doc update
diff --git a/content/html/.buildinfo b/content/html/.buildinfo
index cbe156d..078c011 100644
--- a/content/html/.buildinfo
+++ b/content/html/.buildinfo
@@ -1,4 +1,4 @@
-# Sphinx build info version 1
-# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 522f77269c99ce87784c9f88881333e9
-tags: 645f666f9bcd5a90fca523b33c5a78b7
+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: d3045680594defa892def97e3e427c7e
+tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/content/html/_downloads/0434e3ab992f6eea8e1df4ae553aa93d/cmake-tools-kits.json b/content/html/_downloads/0434e3ab992f6eea8e1df4ae553aa93d/cmake-tools-kits.json
new file mode 100644
index 0000000..5cc747e
--- /dev/null
+++ b/content/html/_downloads/0434e3ab992f6eea8e1df4ae553aa93d/cmake-tools-kits.json
@@ -0,0 +1,13 @@
+[
+ {
+ "name": "MinGW64",
+ "preferredGenerator": { "name": "MinGW Makefiles" },
+ "environmentVariables": { "PATH": "${command:mingw64.path}" },
+ "compilers": {
+ "C": "${command:mingw64.cc.exe}",
+ "CXX": "${command:mingw64.cxx.exe}",
+ "Fortran": "${command:mingw64.fc.exe}"
+ },
+ "keep": true
+ }
+]
diff --git a/content/html/_downloads/13c83f8af22f3a982e274246191a6807/fmil203.patch b/content/html/_downloads/13c83f8af22f3a982e274246191a6807/fmil203.patch
deleted file mode 100644
index 21fd3a2..0000000
--- a/content/html/_downloads/13c83f8af22f3a982e274246191a6807/fmil203.patch
+++ /dev/null
@@ -1,68 +0,0 @@
-diff --git a/src/Import/src/FMI1/fmi1_import_capi.c b/src/Import/src/FMI1/fmi1_import_capi.c
-index 842c998..807cdae 100644
---- a/src/Import/src/FMI1/fmi1_import_capi.c
-+++ b/src/Import/src/FMI1/fmi1_import_capi.c
-@@ -67,18 +67,8 @@ jm_status_enu_t fmi1_import_create_dllfmu(fmi1_import_t* fmu, fmi1_callback_func
-return jm_status_error;
-}
-- if(jm_portability_set_current_working_directory(dllDirPath) != jm_status_success) {
-- jm_log_fatal(fmu->callbacks, module, "Could not change to the DLL directory %s", dllDirPath);
-- if(ENOENT == errno)
-- jm_log_fatal(fmu->callbacks, module, "The FMU contains no binary for this platform.");
-- else
-- jm_log_fatal(fmu->callbacks, module, "System error: %s", strerror(errno));
-- }
-- else {
-- /* Allocate memory for the C-API struct */
-- fmu -> capi = fmi1_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier,
-callBackFunctions, standard);
-- }
--
-+ /* Allocate memory for the C-API struct */
-+ fmu -> capi = fmi1_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier, callBackFunctions,
-standard);
-/* Load the DLL handle */
-if (fmu -> capi) {
-diff --git a/src/Import/src/FMI2/fmi2_import_capi.c b/src/Import/src/FMI2/fmi2_import_capi.c
-index e794775..a2a68ba 100644
---- a/src/Import/src/FMI2/fmi2_import_capi.c
-+++ b/src/Import/src/FMI2/fmi2_import_capi.c
-@@ -88,18 +88,8 @@ jm_status_enu_t fmi2_import_create_dllfmu(fmi2_import_t* fmu, fmi2_fmu_kind_enu_
-callBackFunctions = &defaultCallbacks;
-}
-- if(jm_portability_set_current_working_directory(dllDirPath) != jm_status_success) {
-- jm_log_fatal(fmu->callbacks, module, "Could not change to the DLL directory %s", dllDirPath);
-- if(ENOENT == errno)
-- jm_log_fatal(fmu->callbacks, module, "The FMU contains no binary for this platform.");
-- else
-- jm_log_fatal(fmu->callbacks, module, "System error: %s", strerror(errno));
-- }
-- else {
-- /* Allocate memory for the C-API struct */
-- fmu -> capi = fmi2_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier,
-callBackFunctions, fmuKind);
-- }
--
-+ /* Allocate memory for the C-API struct */
-+ fmu -> capi = fmi2_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier, callBackFunctions,
-fmuKind);
-/* Load the DLL handle */
-if (fmu -> capi) {
-diff --git a/src/Util/include/JM/jm_portability.h b/src/Util/include/JM/jm_portability.h
-index 82e472a..3e50603 100644
---- a/src/Util/include/JM/jm_portability.h
-+++ b/src/Util/include/JM/jm_portability.h
-@@ -65,6 +65,7 @@ jm_status_enu_t jm_portability_get_current_working_directory(char* buffer, size_
-jm_status_enu_t jm_portability_set_current_working_directory(const char* cwd);
-/** \brief Get system-wide temporary directory */
-+FMILIB_EXPORT
-
-const char* jm_get_system_temp_dir();
-/**
-@@ -118,6 +119,7 @@ jm_status_enu_t jm_mkdir(jm_callbacks* cb, const char* dir);
-/**
-\brief Remove directory and all it contents.
-*/
-+FMILIB_EXPORT
-jm_status_enu_t jm_rmdir(jm_callbacks* cb, const char* dir);
-/**
\ No newline at end of file
diff --git a/content/html/_downloads/2e14f979ef821e72b19423c7a3fd9e5d/PrepareDocCustom.cmake b/content/html/_downloads/13db75188596730e5b909e7eb9b658b0/PrepareDocCustom.cmake
similarity index 67%
rename from content/html/_downloads/2e14f979ef821e72b19423c7a3fd9e5d/PrepareDocCustom.cmake
rename to content/html/_downloads/13db75188596730e5b909e7eb9b658b0/PrepareDocCustom.cmake
index a1de749..0f42a6e 100644
--- a/content/html/_downloads/2e14f979ef821e72b19423c7a3fd9e5d/PrepareDocCustom.cmake
+++ b/content/html/_downloads/13db75188596730e5b909e7eb9b658b0/PrepareDocCustom.cmake
@@ -1,9 +1,9 @@
################################################################################
# Copyright (c) 2021 in-tech GmbH
#
-# This program and the accompanying materials are made
-# available under the terms of the Eclipse Public License 2.0
-# which is available at https://www.eclipse.org/legal/epl-2.0/
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0.
#
# SPDX-License-Identifier: EPL-2.0
################################################################################
@@ -17,10 +17,10 @@
# to the the new origin.
#
# Currently supported PLACEHOLDERS
-# - @OP_REL_SIM@ => relative path to the "op sim" root (e.g. deps/os/sim if
-# using a git submodule with the openPASS open source code at deps/os inside
-# the local repository)
-# - @CUSTOM_REL_SIM@ => relative path to the "custom sim" root (.)
+# - @OP_REL_ROOT@ => relative path to root of the openpass repository
+# - @OP_REL_GUI@ => resolves to @OP_REL_ROOT@/gui
+# - @OP_REL_SIM@ => resolves to @OP_REL_ROOT@/sim
+# - @CUSTOM_REL_SIM@ => relative path to the "custom" root (.)
macro(copy_documentation source destination)
message(VERBOSE "Copy ${source} to ${destination}")
@@ -35,14 +35,18 @@
string(REGEX REPLACE "(.*)/$" "\\1" target ${target})
# Placeholder for conf.py: no initial '/' => real relative paths
- set(OP_REL_SIM ../${target}/deps/os/sim) # relative path to the openPASS open source code, with prefix '../${target}' pointing to the custom repository root if this file is located at <root>/doc
- set(CUSTOM_REL_SIM ../${target}) # relative path to the custom repository root (equal to custom sim root in this example)
+ set(OP_REL_ROOT ../${target}/deps/os) # relative path to the openPASS open source code, with prefix '../${target}' pointing to the custom repository root if this file is located at <root>/doc
+ set(OP_REL_GUI ${OP_REL_ROOT}/gui) # relative path to gui root
+ set(OP_REL_SIM ${OP_REL_ROOT}/sim) # relative path to simulation root
+ set(CUSTOM_REL_SIM ../${target}) # relative path to the custom repository root (here, equal to custom sim root)
configure_file(${destination}/source/conf.py
${destination}/source/conf.py @ONLY)
# Placeholder for RST files: use initial '/' => sphinx style for "from source"
# Override old one, because we want to use the same placeholder in both contexts
+ set(OP_REL_ROOT /${OP_REL_ROOT})
+ set(OP_REL_GUI /${OP_REL_GUI})
set(OP_REL_SIM /${OP_REL_SIM})
set(CUSTOM_REL_SIM /${CUSTOM_REL_SIM})
diff --git a/content/html/_downloads/29dd021e0bdb423fc1a0b9b1d8df02f7/launch.json b/content/html/_downloads/29dd021e0bdb423fc1a0b9b1d8df02f7/launch.json
new file mode 100644
index 0000000..da44f31
--- /dev/null
+++ b/content/html/_downloads/29dd021e0bdb423fc1a0b9b1d8df02f7/launch.json
@@ -0,0 +1,57 @@
+{
+ "version": "0.2.0",
+ "configurations": [
+ {
+ // FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)
+ "name": "CMake Target",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "${command:cmake.launchTargetPath}",
+ "args": [],
+ "stopAtEntry": false,
+ "cwd": "${workspaceFolder}",
+ "environment": [
+ {
+ "name": "PATH",
+ "value": "$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}"
+ }
+ ],
+ "externalConsole": false,
+ "MIMode": "gdb",
+ "miDebuggerPath": "${command:cmake.buildkit.gdb.exe}",
+ "setupCommands": [
+ {
+ "description": "Enable pretty-printing for gdb",
+ "text": "-enable-pretty-printing",
+ "ignoreFailures": true
+ }
+ ]
+ },
+ {
+ // FOR DEBUGGING opSimulation (DON'T FORGET TO CALL make install)
+ "name": "opsimulation",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "C:\\OpenPASS\\bin\\core\\opSimulation.exe",
+ "args": [],
+ "stopAtEntry": false,
+ "cwd": "C:\\OpenPASS\\bin\\core",
+ "environment": [
+ {
+ "name": "PATH",
+ "value": "$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}"
+ }
+ ],
+ "externalConsole": false,
+ "MIMode": "gdb",
+ "miDebuggerPath": "${command:cmake.buildkit.gdb.exe}",
+ "setupCommands": [
+ {
+ "description": "Enable pretty-printing for gdb",
+ "text": "-enable-pretty-printing",
+ "ignoreFailures": true
+ }
+ ]
+ }
+ ]
+}
diff --git a/content/html/_downloads/7ad22aafab05e8f351a67b0b372135f7/PedestrianModelsCatalog.xosc b/content/html/_downloads/459c8430e19638f5201d47052051994a/PedestrianModelsCatalog.xosc
similarity index 83%
rename from content/html/_downloads/7ad22aafab05e8f351a67b0b372135f7/PedestrianModelsCatalog.xosc
rename to content/html/_downloads/459c8430e19638f5201d47052051994a/PedestrianModelsCatalog.xosc
index 84c1ac6..bbda0b0 100644
--- a/content/html/_downloads/7ad22aafab05e8f351a67b0b372135f7/PedestrianModelsCatalog.xosc
+++ b/content/html/_downloads/459c8430e19638f5201d47052051994a/PedestrianModelsCatalog.xosc
@@ -4,6 +4,9 @@
<Catalog name="PedestrianCatalog">
<Pedestrian model="pedestrian_child" mass="30.0" name="pedestrian_child" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
+ <Properties>
+ <Property name="Mass" value="40.0"/>
+ </Properties>
<BoundingBox>
<Center x="0.0645" y="0.0" z="0.577"/>
<Dimensions width="0.298" length="0.711" height="1.154"/>
@@ -12,6 +15,9 @@
</Pedestrian>
<Pedestrian model="pedestrian_adult" mass="80.0" name="pedestrian_adult" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
+ <Properties>
+ <Property name="Mass" value="70.0"/>
+ </Properties>
<BoundingBox>
<Center x="0.1" y="0.0" z="0.9"/>
<Dimensions width="0.5" length="0.6" height="1.8"/>
diff --git a/content/html/_downloads/631d97fb2e9fb8f8491268ef3e6ec616/settings.json b/content/html/_downloads/631d97fb2e9fb8f8491268ef3e6ec616/settings.json
new file mode 100644
index 0000000..2528213
--- /dev/null
+++ b/content/html/_downloads/631d97fb2e9fb8f8491268ef3e6ec616/settings.json
@@ -0,0 +1,34 @@
+{
+ //
+ // CMAKE
+ //
+ // Optional: Adjust to your needs
+ "cmake.parallelJobs": 4,
+ // See openPASS documentation for individual WITH_* settings
+ "cmake.configureArgs": [
+ "-DCMAKE_INSTALL_PREFIX=/openPASS/bin/core",
+ // Adjust paths depending on your system
+ "-DCMAKE_PREFIX_PATH=${workspaceRoot}/deps/thirdParty/linux64/FMILibrary;${workspaceRoot}/deps/thirdParty/linux64/osi;${workspaceRoot}/deps/thirdParty/linux64/minizip",
+ "-DUSE_CCACHE=ON",
+ "-DWITH_GUI=OFF",
+ "-DWITH_SIMCORE=ON",
+ "-DWITH_TESTS=ON",
+ "-DWITH_DOC=OFF",
+ // For integration with IntelliSense (see c_cpp_properties.json)
+ "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON"
+ ],
+ //
+ // TESTMATE
+ //
+ // Optional: Adjust to your needs
+ "testMate.cpp.test.parallelExecutionLimit": 4,
+ "testMate.cpp.test.parallelExecutionOfExecutableLimit": 2,
+ // Optional: Set, if you like to debug test discovery and test start issues
+ "testMate.cpp.log.logfile": "/tmp/cpp.testmate.log",
+ //
+ // VSCODE
+ //
+ // Enforce usage of .clang-format of modified code
+ "editor.formatOnSave": true,
+ "editor.formatOnSaveMode": "modifications"
+}
\ No newline at end of file
diff --git a/content/html/_downloads/41199500c8d6a3b79ce03f32a7e2ba48/VehicleModelsCatalog.xosc b/content/html/_downloads/bc0ffd4f4913ee64271fcfbe312d1f55/VehicleModelsCatalog.xosc
similarity index 94%
rename from content/html/_downloads/41199500c8d6a3b79ce03f32a7e2ba48/VehicleModelsCatalog.xosc
rename to content/html/_downloads/bc0ffd4f4913ee64271fcfbe312d1f55/VehicleModelsCatalog.xosc
index e35b29a..01e5122 100644
--- a/content/html/_downloads/41199500c8d6a3b79ce03f32a7e2ba48/VehicleModelsCatalog.xosc
+++ b/content/html/_downloads/bc0ffd4f4913ee64271fcfbe312d1f55/VehicleModelsCatalog.xosc
@@ -25,7 +25,7 @@
<Center x="1.25" y="0.0" z="0.84"/>
<Dimensions width="2.04" length="3.96" height="1.68"/>
</BoundingBox>
- <Performance maxSpeed="41.67" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="41.67" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5282" wheelDiameter="0.682" trackWidth="1.8" positionX="2.52" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -61,7 +61,7 @@
<Center x="1.285" y="0.0" z="0.72"/>
<Dimensions width="1.96" length="4.63" height="1.44"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.8" positionX="2.81" positionZ="0.317"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.8" positionX="0.0" positionZ="0.317"/>
@@ -97,7 +97,7 @@
<Center x="1.46" y="0.0" z="0.755"/>
<Dimensions width="2.18" length="5.26" height="1.51"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5226" wheelDiameter="0.682" trackWidth="1.8" positionX="3.22" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -133,7 +133,7 @@
<Center x="1.485" y="0.0" z="0.745"/>
<Dimensions width="2.16" length="5.27" height="1.49"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5279" wheelDiameter="0.682" trackWidth="1.8" positionX="3.25" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -168,7 +168,7 @@
<Center x="1.35" y="0.0" z="0.71"/>
<Dimensions width="1.89" length="3.8" height="1.42"/>
</BoundingBox>
- <Performance maxSpeed="58.33" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="58.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4766" wheelDiameter="0.59" trackWidth="1.8" positionX="2.48" positionZ="0.295"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.59" trackWidth="1.8" positionX="0.0" positionZ="0.295"/>
@@ -204,7 +204,7 @@
<Center x="2.815" y="0.0" z="1.92"/>
<Dimensions width="2.91" length="13.23" height="3.84"/>
</BoundingBox>
- <Performance maxSpeed="33.33" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="33.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.6972" wheelDiameter="0.808" trackWidth="1.8" positionX="6.64" positionZ="0.404"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
@@ -240,7 +240,7 @@
<Center x="2.685" y="0.0" z="1.74"/>
<Dimensions width="3.16" length="8.83" height="3.48"/>
</BoundingBox>
- <Performance maxSpeed="25.0" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="25.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4352" wheelDiameter="0.808" trackWidth="1.8" positionX="4.36" positionZ="0.404"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
@@ -274,7 +274,7 @@
<Center x="0.175" y="0.0" z="0.9325"/>
<Dimensions width="0.5" length="1.89" height="1.865"/>
</BoundingBox>
- <Performance maxSpeed="10.0" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="10.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="1.5708" wheelDiameter="0.636" trackWidth="0.1" positionX="1.04" positionZ="0.318"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.636" trackWidth="0.1" positionX="0.0" positionZ="0.318"/>
diff --git a/content/html/_downloads/9b97e1145820436cecdf63c39b46a777/conf.py b/content/html/_downloads/c182e909c0bef397a2a7e7c51c6f7763/conf.py
similarity index 91%
rename from content/html/_downloads/9b97e1145820436cecdf63c39b46a777/conf.py
rename to content/html/_downloads/c182e909c0bef397a2a7e7c51c6f7763/conf.py
index 623cb10..29cffeb 100644
--- a/content/html/_downloads/9b97e1145820436cecdf63c39b46a777/conf.py
+++ b/content/html/_downloads/c182e909c0bef397a2a7e7c51c6f7763/conf.py
@@ -1,12 +1,12 @@
-#*************************************************************
+################################################################################
# Copyright (c) 2021 in-tech GmbH
#
-# This program and the accompanying materials are made
-# available under the terms of the Eclipse Public License 2.0
-# which is available at https://www.eclipse.org/legal/epl-2.0/
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0.
#
# SPDX-License-Identifier: EPL-2.0
-#*************************************************************
+################################################################################
# Configuration file for the Sphinx documentation builder. See also:
# https://www.sphinx-doc.org/en/master/usage/configuration.html
@@ -15,7 +15,6 @@
import sys
import datetime
import sphinx_rtd_theme
-import sphinxcontrib.spelling
from textwrap import dedent
# -- Path setup --------------------------------------------------------------
@@ -43,9 +42,9 @@
# -- General configuration ---------------------------------------------------
def setup(app):
app.add_css_file('css/custom.css')
-
+
extensions = []
-extensions.append('sphinxcontrib.spelling')
+
extensions.append("sphinx_rtd_theme")
extensions.append('sphinx.ext.todo')
extensions.append('sphinx_tabs.tabs')
@@ -71,6 +70,8 @@
breathe_projects = {"openpass":"doxyoutput/xml"}
breathe_default_project = "openpass"
+ cpp_id_attributes = ['Q_DECL_IMPORT']
+
# -- Setup the exhale extension ----------------------------------------------
exhale_args = {
# These arguments are required
diff --git a/content/html/_downloads/cf3a708e6048855aab4490b408d22f7c/settings.json b/content/html/_downloads/cf3a708e6048855aab4490b408d22f7c/settings.json
new file mode 100644
index 0000000..82ee219
--- /dev/null
+++ b/content/html/_downloads/cf3a708e6048855aab4490b408d22f7c/settings.json
@@ -0,0 +1,75 @@
+{
+ //
+ // CMAKE
+ //
+ // Following settings are from the MSYS2 extension documentation
+ "cmake.cmakePath": "${command:cmake.buildkit.cmake.exe}",
+ "cmake.preferredGenerators": ["Unix Makefiles"],
+ "cmake.configureSettings": {
+ "CMAKE_MAKE_PROGRAM": "${command:cmake.buildkit.generator.exe}",
+ "CMAKE_VERBOSE_MAKEFILE": false
+ },
+ // Optional: Adjust to your needs
+ "cmake.parallelJobs": 4,
+ // See openPASS documentation for individual WITH_* settings
+ "cmake.configureArgs": [
+ "-DCMAKE_INSTALL_PREFIX=C:\\OpenPASS\\bin\\core",
+ // Adjust paths depending on your system
+ "-DCMAKE_PREFIX_PATH=${workspaceRoot}/deps/thirdParty/win64/FMILibrary;${workspaceRoot}/deps/thirdParty/win64/osi;${workspaceRoot}/deps/thirdParty/win64/minizip;${command:mingw64.root};${command:mingw64.root}/bin;${command:mingw64.root}/lib",
+ "-DUSE_CCACHE=ON",
+ "-DCMAKE_BUILD_TYPE=Debug",
+ "-DWITH_GUI=OFF",
+ "-DWITH_SIMCORE=ON",
+ "-DWITH_TESTS=ON",
+ "-DWITH_DOC=OFF",
+ "-DWITH_DEBUG_POSTFIX=OFF",
+ "-DINSTALL_SYSTEM_RUNTIME_DEPS=OFF",
+ "-DINSTALL_EXTRA_RUNTIME_DEPS=ON",
+ // For integration with IntelliSense (see c_cpp_properties.json)
+ "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON"
+ ],
+ //
+ // TESTMATE
+ //
+ // Optional: Adjust to your needs
+ "testMate.cpp.test.parallelExecutionLimit": 4,
+ "testMate.cpp.test.parallelExecutionOfExecutableLimit": 2,
+ // Optional: Set, if you like to debug test discovery and test start issues
+ "testMate.cpp.log.logfile": "C:\\temp\\cpp.testmate.log",
+ // Optional: As CTest triggers the install step, dependencies between test executables
+ // and openpass libraries can be resolved by linking text executables to
+ // openpass install directory
+ // Alternative: Check dependencies of test executables by 'ldd <_Tests.exe> and copy
+ // libraries right next to test executable within build direcory
+ "testMate.cpp.test.advancedExecutables": [
+ {
+ "pattern": "build/**/*{tests,Tests,TESTS}*",
+ "env": {
+ "Path": "C:\\msys64\\mingw64\\bin;C:\\OpenPASS\\bin\\core;C:\\OpenPASS\\bin\\core\\lib;${os_env:PATH};${workspaceFolder}\\deps\\thirdParty\\win64\\FMILibrary\\lib;${workspaceFolder}\\deps\\thirdParty\\win64\\osi\\lib\\osi3"
+ }
+ }
+ ],
+ //
+ // VSCODE
+ //
+ // Optional: Integration of MinGW64 Terminal in VS Code
+ "terminal.integrated.profiles.windows": {
+ "MinGW64": {
+ "overrideName": true,
+ "path": [
+ "C:\\msys64\\usr\\bin\\bash.exe"
+ ],
+ "args": ["--login", "-i"],
+ "icon": "terminal-bash",
+ "env": {
+ "MSYSTEM": "MINGW64",
+ "CHERE_INVOKING": "1",
+ "MSYS2_PATH_TYPE": "inherit"
+ }
+ }
+ },
+ "terminal.integrated.defaultProfile.windows": "MinGW64",
+ // Enforce usage of .clang-format of modified code
+ "editor.formatOnSave": true,
+ "editor.formatOnSaveMode": "modifications"
+}
\ No newline at end of file
diff --git a/content/html/_downloads/d1dbc0ee423132666374fa73f6c0f165/fmi-library-2.0.3-fixes.patch b/content/html/_downloads/d1dbc0ee423132666374fa73f6c0f165/fmi-library-2.0.3-fixes.patch
new file mode 100644
index 0000000..963a449
--- /dev/null
+++ b/content/html/_downloads/d1dbc0ee423132666374fa73f6c0f165/fmi-library-2.0.3-fixes.patch
@@ -0,0 +1,66 @@
+diff --git a/src/Import/src/FMI1/fmi1_import_capi.c b/src/Import/src/FMI1/fmi1_import_capi.c
+index 842c998..eeff2b5 100644
+--- a/src/Import/src/FMI1/fmi1_import_capi.c
++++ b/src/Import/src/FMI1/fmi1_import_capi.c
+@@ -67,18 +67,8 @@ jm_status_enu_t fmi1_import_create_dllfmu(fmi1_import_t* fmu, fmi1_callback_func
+ return jm_status_error;
+ }
+
+- if(jm_portability_set_current_working_directory(dllDirPath) != jm_status_success) {
+- jm_log_fatal(fmu->callbacks, module, "Could not change to the DLL directory %s", dllDirPath);
+- if(ENOENT == errno)
+- jm_log_fatal(fmu->callbacks, module, "The FMU contains no binary for this platform.");
+- else
+- jm_log_fatal(fmu->callbacks, module, "System error: %s", strerror(errno));
+- }
+- else {
+ /* Allocate memory for the C-API struct */
+ fmu -> capi = fmi1_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier, callBackFunctions, standard);
+- }
+-
+
+ /* Load the DLL handle */
+ if (fmu -> capi) {
+diff --git a/src/Import/src/FMI2/fmi2_import_capi.c b/src/Import/src/FMI2/fmi2_import_capi.c
+index e794775..ffca14d 100644
+--- a/src/Import/src/FMI2/fmi2_import_capi.c
++++ b/src/Import/src/FMI2/fmi2_import_capi.c
+@@ -88,18 +88,8 @@ jm_status_enu_t fmi2_import_create_dllfmu(fmi2_import_t* fmu, fmi2_fmu_kind_enu_
+ callBackFunctions = &defaultCallbacks;
+ }
+
+- if(jm_portability_set_current_working_directory(dllDirPath) != jm_status_success) {
+- jm_log_fatal(fmu->callbacks, module, "Could not change to the DLL directory %s", dllDirPath);
+- if(ENOENT == errno)
+- jm_log_fatal(fmu->callbacks, module, "The FMU contains no binary for this platform.");
+- else
+- jm_log_fatal(fmu->callbacks, module, "System error: %s", strerror(errno));
+- }
+- else {
+ /* Allocate memory for the C-API struct */
+ fmu -> capi = fmi2_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier, callBackFunctions, fmuKind);
+- }
+-
+
+ /* Load the DLL handle */
+ if (fmu -> capi) {
+diff --git a/src/Util/include/JM/jm_portability.h b/src/Util/include/JM/jm_portability.h
+index 82e472a..605dff9 100644
+--- a/src/Util/include/JM/jm_portability.h
++++ b/src/Util/include/JM/jm_portability.h
+@@ -65,6 +65,7 @@ jm_status_enu_t jm_portability_get_current_working_directory(char* buffer, size_
+ jm_status_enu_t jm_portability_set_current_working_directory(const char* cwd);
+
+ /** \brief Get system-wide temporary directory */
++FMILIB_EXPORT
+ const char* jm_get_system_temp_dir();
+
+ /**
+@@ -118,6 +119,7 @@ jm_status_enu_t jm_mkdir(jm_callbacks* cb, const char* dir);
+ /**
+ \brief Remove directory and all it contents.
+ */
++FMILIB_EXPORT
+ jm_status_enu_t jm_rmdir(jm_callbacks* cb, const char* dir);
+
+ /**
diff --git a/content/html/_downloads/dca649c6abf7935b694a9b820bb4efc5/c_cpp_properties.json b/content/html/_downloads/dca649c6abf7935b694a9b820bb4efc5/c_cpp_properties.json
new file mode 100644
index 0000000..5aa4f69
--- /dev/null
+++ b/content/html/_downloads/dca649c6abf7935b694a9b820bb4efc5/c_cpp_properties.json
@@ -0,0 +1,13 @@
+{
+ "configurations": [
+ {
+ "name": "simopenpass",
+ "cStandard": "c99",
+ "cppStandard": "c++17",
+ "configurationProvider": "ms-vscode.cmake-tools",
+ "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+ "intelliSenseMode": "linux-gcc-x64"
+ }
+ ],
+ "version": 4
+}
diff --git a/content/html/_downloads/f717c80213b149820a0dc8e07e803940/launch.json b/content/html/_downloads/f717c80213b149820a0dc8e07e803940/launch.json
new file mode 100644
index 0000000..5498d9f
--- /dev/null
+++ b/content/html/_downloads/f717c80213b149820a0dc8e07e803940/launch.json
@@ -0,0 +1,43 @@
+{
+ "version": "0.2.0",
+ "configurations": [
+ {
+ // FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)
+ "name": "CMake Target",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "${command:cmake.launchTargetPath}",
+ "args": [],
+ "stopAtEntry": false,
+ "cwd": "${workspaceFolder}",
+ "externalConsole": false,
+ "MIMode": "gdb",
+ "setupCommands": [
+ {
+ "description": "Enable pretty-printing for gdb",
+ "text": "-enable-pretty-printing",
+ "ignoreFailures": true
+ }
+ ]
+ },
+ {
+ // FOR DEBUGGING opSimulation (DON'T FORGET TO CALL make install)
+ "name": "opsimulation",
+ "type": "cppdbg",
+ "request": "launch",
+ "program": "/openPASS/bin/core/opSimulation",
+ "args": [],
+ "stopAtEntry": false,
+ "cwd": "/openPASS/bin/core/",
+ "externalConsole": false,
+ "MIMode": "gdb",
+ "setupCommands": [
+ {
+ "description": "Enable pretty-printing for gdb",
+ "text": "-enable-pretty-printing",
+ "ignoreFailures": true
+ }
+ ]
+ }
+ ]
+}
diff --git a/content/html/_images/Sensor2D_five_corner_polygon.png b/content/html/_images/Sensor2D_five_corner_polygon.png
new file mode 100644
index 0000000..43ed32c
--- /dev/null
+++ b/content/html/_images/Sensor2D_five_corner_polygon.png
Binary files differ
diff --git a/content/html/_images/Sensor2D_kite_polygon.png b/content/html/_images/Sensor2D_kite_polygon.png
new file mode 100644
index 0000000..31217f5
--- /dev/null
+++ b/content/html/_images/Sensor2D_kite_polygon.png
Binary files differ
diff --git a/content/html/_images/SensorView_Dataflow.svg b/content/html/_images/SensorView_Dataflow.svg
new file mode 100644
index 0000000..4d2334a
--- /dev/null
+++ b/content/html/_images/SensorView_Dataflow.svg
@@ -0,0 +1 @@
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diff --git a/content/html/_images/win_only.png b/content/html/_images/win_only.png
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diff --git a/content/html/_sources/advanced_topics/20_simulator_advanced.rst.txt b/content/html/_sources/advanced_topics/20_simulator_advanced.rst.txt
index 0749669..29b9b19 100644
--- a/content/html/_sources/advanced_topics/20_simulator_advanced.rst.txt
+++ b/content/html/_sources/advanced_topics/20_simulator_advanced.rst.txt
@@ -1,22 +1,22 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _simulator_advanced:
-
-Simulator
-=========
-
-
-.. toctree::
- :glob:
- :maxdepth: 3
-
- simulator/*
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _simulator_advanced:
+
+Simulator
+=========
+
+
+.. toctree::
+ :glob:
+ :maxdepth: 3
+
+ simulator/*
diff --git a/content/html/_sources/advanced_topics/30_testing.rst.txt b/content/html/_sources/advanced_topics/30_testing.rst.txt
new file mode 100644
index 0000000..de5ceb3
--- /dev/null
+++ b/content/html/_sources/advanced_topics/30_testing.rst.txt
@@ -0,0 +1,19 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _testing_endtoend:
+
+EndToEnd Test Framework
+=======================
+
+**pyOpenPASS**
+
+.. include:: /../../../repo/sim/tests/endToEndTests/pyOpenPASS.rst
diff --git a/content/html/_sources/advanced_topics/simulator/agent_components.rst.txt b/content/html/_sources/advanced_topics/simulator/agent_components.rst.txt
index 6e401bf..d577a9c 100644
--- a/content/html/_sources/advanced_topics/simulator/agent_components.rst.txt
+++ b/content/html/_sources/advanced_topics/simulator/agent_components.rst.txt
@@ -1,306 +1,445 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _agentcomponents:
-
-Agent Components
-================
-
-An agent in openPASS is composed of multiple modules, which are connected by corresponding signals.
-As shown in the next figure, the modules can be roughly divided into the groups drivers, vehicle components, algorithms, dynamic modules, and prioritizers.
-Thereby, modules can consist of several submodules, such as sensor (reading from an interface) and action (writing to an interface).
-
-.. figure:: ./images/DynamicsModules.png
-
- Modules for longitudinal and lateral dynamics
-
-By statistic means, based on corresponding probabilities defined in the :ref:`profilescatalog`, each individual agent is composed from a superset of all possible (valid) combinations, which is defined by the :ref:`systemconfigblueprint`.
-This config defines all available framework modules and agent modules and connects them by corresponding channels, which in turn have a specific signal type.
-
-The next figure gives an exhaustive overview over the current superset:
-
-.. figure:: ./images/ComponentsChannelCommunicationDiagram.svg
-
- Components and channel communication
-
-:download:`./images/ComponentsChannelCommunicationDiagram.svg`
-
-Modules that can be paramerized by the user are explained in the :ref:`Simulation User Guide <simuserguide_components>`.
-Therefor the following section only contains the components not listed in the user guide.
-
-Action_LongitudinalDriver
--------------------------
-
-Updates the agents pedal positions and gear.
-The input for this module is prepared by the AlgorithmLongitudinal Module.
-
-Action_SecondaryDriver
------------------------
-
-Updates the agents BrakingLight, Indicator, Horn and all Lightswitches (Headlight, HighBeam, Flasher).
-The input for this module is prepared by the driver module.
-
-AgentUpdater
-------------
-
-The AgentUpdater executes all Set-Methods of the agent dynamics after the DynamicsPrioritizer. This includes position, velocity, acceleration and rotation.
-
-Algorithm_Lateral
------------------
-
-This module converts the lateral input of the driver module into a steeringwheel angle.
-
-Algorithm_Longitudinal
-----------------------
-
-This module converts the acceleration input of the driver module into pedal positions and gear.
-
-Dynamics_Collision
-------------------
-
-If the number of collision partners of the agent is bigger than in the previous timestep, the DynamicsCollision module calculates the collision.
-Currently the collision is implemented fully inelastic, i.e. all agents will have the same velocity after the collision, while the momentum is conserved.
-After the collision the agents slow down with a fixed deceleration until fully stopped.
-
-Dynamics_RegularDriving
-------------------------
-
-The module takes care that the motion of the agent fit to the physical limitations, such as friction or maximum possible acceleration based on the current gear.
-This module uses both the world friction and the vehiclemodelparameter friction.
-Thereby it calculates the dynamics of the agents in every time step.
-The currently covered dynamics are *Acceleration*, *Velocity*, and consequently *Position*, *Yaw angle* and *Yaw rate*.
-The input for this module is the steeringwheel angle and the new acceleration of the vehicle.
-
-LimiterAccelerationVehicleComponents
--------------------------------------
-
-This module limits the AccelerationSignal from the PrioritizerAccelerationVehicleComponents to the constraints given by the vehicle. The DynamicsTrajectoryFollower can then use this signal to calculate a trajectory.
-
-The limit is calculated by :math:`a_{\text{lim}} = \frac {F_{\text{wheel}} - F_{\text{roll}} - F_{\text{air}}} {m_{\text{veh}}}`, where the symbols meanings are:
-
-======================== ================================================
-Symbol Decription
-======================== ================================================
-:math:`a_{\text{lim}}` Resulting acceleration limit [m/s²]
-:math:`F_{\text{wheel}}` Force at wheel (provided by drivetrain) [N]
-:math:`F_{\text{roll}}` Force resulting from rolling resistance [N]
-:math:`F_{\text{air}}` Force resulting from air drag [N]
-:math:`m_{\text{veh}}` Mass of the vehicle [kg]
-======================== ================================================
-
-The components are calculated as follows:
-
-**Driving force**
-
-:math:`F_{\text{wheel}} = \frac {T_{\text{engine}} \cdot r_{\text{axle}}} {r_{\text{wheel}}}`
-
-========================= ============================================================================================
-Symbol Decription
-========================= ============================================================================================
-:math:`T_{\text{engine}}` Resulting torque from drivetrain at current velocity (assumung best gearing selected) [Nm]
-:math:`r_{\text{axle}}` Axle transmission ratio [1]
-:math:`r_{\text{wheel}}` Static radius of the wheels [m]
-========================= ============================================================================================
-
-The engine torque :math:`T_{\text{engine}}` is calculated by a simple model, where the torque scales proportional with the current engine speed between 1350 and 5000 rpm, up to maximum engine torque.
-From minimum engine speed up to 1350 rpm the torque scales proportional with the engine speed up to half the maximum torque.
-From 5000 rpm up to maximum engine speed, the torque scales with 5000 / maxEngineSpeed, up to maximum torque.
-
-**Rolling resistance**
-
-:math:`F_{\text{roll}} = m_{\text{veh}} \cdot c_{\text{fric}} \cdot g`
-
-========================= ============================================================================================
-Symbol Decription
-========================= ============================================================================================
-:math:`m_{\text{veh}}` Mass of the vehicle [kg]
-:math:`c_{\text{fric}}` Rolling friction coefficient (constant 0.015) [1]
-========================= ============================================================================================
-
-
-**Air drag**
-
-:math:`F_{\text{air}} = \frac {\rho_{\text{air}}} {2} \cdot A_{\text{front}} \cdot c_w \cdot v^2`
-
-========================= ============================================================================================
-Symbol Decription
-========================= ============================================================================================
-:math:`\rho_{\text{air}}` Densitiy of air [kg/m³]
-:math:`A_{\text{front}}` Vehicle front surface area [m²]
-:math:`c_w` Drag coefficient [1]
-:math:`v` Vehicle's current velocity [m/s]
-========================= ============================================================================================
-
-OpenScenarioActions
--------------------
-
-As defined by openSCENARIO, OpenScenarioActions is the relaying module for:
-
-- Trajectory-actions
-- LaneChange-actions
-- UserDefined-actions.
-
-If a
-
-- TrajectoryManipulator
-- LaneChangeManipulator
-
-or a user defined manipulator
-
-raises such an event for the specified agent, the module forwards it as signal to all interested module of the corresponding agent. The modules can than react on the signals content without time delay.
-
-Parameters_Vehicle
--------------------
-
-The ParametersVehicle module forwards the VehicleModelParamters to all other moduls that need them via the ParametersVehicleSignal
-
-Sensor_Driver
---------------
-
-The SensorDriver performs queries on the AgentInterface to gather information about the own agent and its surroundings. These are forwarded to the driver modules and the Algorithm modules, which use them for their calculations.
-
-SensorFusionOSI
----------------
-
-The SensorFusionOSI module allows unsorted aggregation of any data provided by sensors. All sampled detected objects can then be broadcasted to connected ADAS.
-
-It collects all SensorDataSignals and merges them into a single SensorDataSignal.
-
-SignalPrioritizer
------------------
-
-All channels can only have one source.
-If one modul can have the same input type from multiple sources a prioritizer modul is needed in between.
-All sources then get an output channel to the prioritizer modul and the prioritizer gets an output to the modul, which uses this signal.
-If more than an component sends an active signal during the same timestep, the prioritizer forwards only the signal from the input channel with the highest priority.
-These priorities are set as parameters in the systemconfigblueprint.xml, where the key corresponds the the id of the input channel and the value is the priority (higher value is prioritized).
-In the following example the channel with id 102 has the highest priority (3) and the channel with id 100 has the lowest priority (1).
-
-.. code-block:: xml
-
- <component>
- <id>PrioritizerName</id>
- <schedule>
- <priority>150</priority>
- <offset>0</offset>
- <cycle>100</cycle>
- <response>0</response>
- </schedule>
- <library>SignalPrioritizer</library>
- <parameters>
- <parameter>
- <id>100</id>
- <type>int</type>
- <unit/>
- <value>1</value>
- </parameter>
- <parameter>
- <id>101</id>
- <type>int</type>
- <unit/>
- <value>2</value>
- </parameter>
- <parameter>
- <id>102</id>
- <type>int</type>
- <unit/>
- <value>3</value>
- </parameter>
- </parameters>
- </component>
-
-One prioritizer modul can only handle signals of the same type and the signal class must be derived from ComponentStateSignal.
-If there is no signal in one timestep, then the signal of the previos timestep is hold.
-
-**Existing prioritizer modules**
-
-* PrioritizerAccelerationVehicleComponents
-* PrioritizerSteeringVehicleComponents
-* PrioritizerTurningIndicator
-* PrioritizerLongitudinal
-* PrioritizerSteering
-* PrioritizerDynamics
-
-
-ComponentController
--------------------
-
-Overview
-~~~~~~~~~
-
-The ComponentControoler (CC) is used to configure and handle dependencies between other vehicle components.
-
-Example use cases could be:
-
-- Cruise control:
-
- - driver requesting higher acceleration than cruise control overrides the latter
- - driver braking deactivates cruise control
-
-- Lane keeping assistant:
-
- - cannot be activated by driver, if emergency braking is currently active
- - stays active, when emergency braking occours (i. e. by other ADAS)
-
-The responsibilies of the CC are:
-
-- Handling of all dependencies between *VehicleComponents* in case a component wants to activate
-- Make information about driver, *TrajectoryFollower* and other *VehicleComponents* available to each other
-- Determine the highest allowed activation state of a component and notify the affected component about this state
-
-To achieve this tasks, each component is assigned a maximum allowed state in each timestep. This state is of type ComponentState,
-which defines *Disabled*, *Armed* or *Active* as allowed states.
-Drivers can be in a state of either *Active* or *Passive*.
-
-State handling inside Vehicle Component
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Within a vehicle component, the information flow should be implemented as follows:
-
-1. The vehicle component retrieves the information of other components and the current maximum allowed state from the CC.
- Other components include drivers, trajectory followers and all other vehicle components connected to the CC.
-2. Based on that information the vehicle component determines its current desired state.
-3. The desired state is sent to the CC.
-
-The CC handles all the dependencies between different components and determines the maximum allowed state for each component based
-on the configuration of the CC.
-
-Used signals
-~~~~~~~~~~~~~
-
-The CC communicates with the controlled components via framework signals.
-
-Inputs to the ComponentController:
-
-.. table::
- :class: tight-table
-
- ================== ===================================================== =============================
- Source Contents Signal
- ================== ===================================================== =============================
- TrajectoryFollower Current state ComponentStateSignal
- Driver Current state, pedal activity DriverStateSignal
- VehicleComponent Current state, desired state, generic ADAS parameters VehicleCompToCompCtrlSignal
- ================== ===================================================== =============================
-
-
-Output to other components:
-
-.. table::
- :class: tight-table
-
- ================== ========================================================================== =============================
- Destination Contents Signal
- ================== ========================================================================== =============================
- TrajectoryFollower Current max. reachable state ComponentStateSignal
- Driver List of all ADAS with names, stati and types AdasStateSignal
- VehicleComponent Current max. reachable state, list of all ADAS with names, stati and types CompCtrlToVehicleCompSignal
- ================== ========================================================================== =============================
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _agentcomponents:
+
+Agent Components
+================
+
+An agent in openPASS is composed of multiple modules, which are connected by corresponding signals.
+As shown in the next figure, the modules can be roughly divided into the groups drivers, vehicle components, algorithms, dynamic modules, and prioritizers.
+Thereby, modules can consist of several submodules, such as sensor (reading from an interface) and action (writing to an interface).
+
+.. figure:: ./images/DynamicsModules.png
+
+ Modules for longitudinal and lateral dynamics
+
+By statistic means, based on corresponding probabilities defined in the :ref:`profilescatalog`, each individual agent is composed from a superset of all possible (valid) combinations, which is defined by the :ref:`systemconfigblueprint`.
+This config defines all available framework modules and agent modules and connects them by corresponding channels, which in turn have a specific signal type.
+
+The next figure gives an exhaustive overview over the current superset:
+
+.. _component_channel_communication:
+
+.. figure:: ./images/ComponentsChannelCommunicationDiagram.svg
+
+ Components and channel communication
+
+:download:`./images/ComponentsChannelCommunicationDiagram.svg`
+
+Modules that can be parametrized by the user are explained in the :ref:`Simulation User Guide <simuserguide_components>`.
+Therefor the following section only contains the components not listed in the user guide.
+
+Action_LongitudinalDriver
+-------------------------
+
+Updates the agents pedal positions and gear.
+The input for this module is prepared by the AlgorithmLongitudinal Module.
+
+Action_SecondaryDriver
+-----------------------
+
+Updates the agents braking light, indicator, horn and all light switches (headlight, high beam, flasher).
+The input for this module is prepared by the driver module.
+
+AgentUpdater
+------------
+
+The AgentUpdater executes all Set-Methods of the agent dynamics after the DynamicsPrioritizer. This includes position, velocity, acceleration and rotation.
+
+Algorithm_Lateral
+-----------------
+
+This module converts the lateral input of the driver module into a steering wheel angle.
+
+Algorithm_Longitudinal
+----------------------
+
+This module converts the acceleration input of the driver module into pedal positions and gear.
+
+Dynamics_Collision
+------------------
+
+If the number of collision partners of the agent is bigger than in the previous time step, the DynamicsCollision module calculates the collision.
+Currently the collision is implemented fully inelastic, i.e. all agents will have the same velocity after the collision, while the momentum is conserved.
+After the collision the agents slow down with a fixed deceleration until fully stopped.
+
+Dynamics_RegularDriving
+------------------------
+
+The module takes care that the motion of the agent fit to the physical limitations, such as friction or maximum possible acceleration based on the current gear.
+This module uses both the world friction and the vehicle model parameter friction.
+Thereby it calculates the dynamics of the agents in every time step.
+The currently covered dynamics are *Acceleration*, *Velocity*, and consequently *Position*, *Yaw angle* and *Yaw rate*.
+The input for this module is the steering wheel angle and the new acceleration of the vehicle.
+
+LimiterAccelerationVehicleComponents
+-------------------------------------
+
+This module limits the AccelerationSignal from the PrioritizerAccelerationVehicleComponents to the constraints given by the vehicle. The DynamicsTrajectoryFollower can then use this signal to calculate a trajectory.
+
+The limit is calculated by :math:`a_{\text{lim}} = \frac {F_{\text{wheel}} - F_{\text{roll}} - F_{\text{air}}} {m_{\text{veh}}}`, where the symbols meanings are:
+
+======================== ================================================
+Symbol Description
+======================== ================================================
+:math:`a_{\text{lim}}` Resulting acceleration limit [m/s²]
+:math:`F_{\text{wheel}}` Force at wheel (provided by drivetrain) [N]
+:math:`F_{\text{roll}}` Force resulting from rolling resistance [N]
+:math:`F_{\text{air}}` Force resulting from air drag [N]
+:math:`m_{\text{veh}}` Mass of the vehicle [kg]
+======================== ================================================
+
+The components are calculated as follows:
+
+**Driving force**
+
+:math:`F_{\text{wheel}} = \frac {T_{\text{engine}} \cdot r_{\text{axle}}} {r_{\text{wheel}}}`
+
+========================= ============================================================================================
+Symbol Description
+========================= ============================================================================================
+:math:`T_{\text{engine}}` Resulting torque from drivetrain at current velocity (assuming best gearing selected) [Nm]
+:math:`r_{\text{axle}}` Axle transmission ratio [1]
+:math:`r_{\text{wheel}}` Static radius of the wheels [m]
+========================= ============================================================================================
+
+The engine torque :math:`T_{\text{engine}}` is calculated by a simple model, where the torque scales proportional with the current engine speed between 1350 and 5000 rpm, up to maximum engine torque.
+From minimum engine speed up to 1350 rpm the torque scales proportional with the engine speed up to half the maximum torque.
+From 5000 rpm up to maximum engine speed, the torque scales with 5000 / maxEngineSpeed, up to maximum torque.
+
+**Rolling resistance**
+
+:math:`F_{\text{roll}} = m_{\text{veh}} \cdot c_{\text{fric}} \cdot g`
+
+========================= ============================================================================================
+Symbol Description
+========================= ============================================================================================
+:math:`m_{\text{veh}}` Mass of the vehicle [kg]
+:math:`c_{\text{fric}}` Rolling friction coefficient (constant 0.015) [1]
+========================= ============================================================================================
+
+
+**Air drag**
+
+:math:`F_{\text{air}} = \frac {\rho_{\text{air}}} {2} \cdot A_{\text{front}} \cdot c_w \cdot v^2`
+
+========================= ============================================================================================
+Symbol Description
+========================= ============================================================================================
+:math:`\rho_{\text{air}}` Density of air [kg/m³]
+:math:`A_{\text{front}}` Vehicle front surface area [m²]
+:math:`c_w` Drag coefficient [1]
+:math:`v` Vehicle's current velocity [m/s]
+========================= ============================================================================================
+
+OpenScenarioActions
+-------------------
+
+As defined by openSCENARIO, OpenScenarioActions is the relaying module for:
+
+- Trajectory-actions
+- LaneChange-actions
+- UserDefined-actions.
+
+If a
+
+- TrajectoryManipulator
+- LaneChangeManipulator
+
+or a user defined manipulator
+
+raises such an event for the specified agent, the module forwards it as signal to all interested module of the corresponding agent. The modules can than react on the signals content without time delay.
+
+Parameters_Vehicle
+-------------------
+
+The ParametersVehicle module forwards the VehicleModelParameters to all other modules that need them via the ParametersVehicleSignal
+
+Sensor_Driver
+--------------
+
+The SensorDriver performs queries on the AgentInterface to gather information about the own agent and its surroundings. These are forwarded to the driver modules and the Algorithm modules, which use them for their calculations.
+
+Sensor_OSI
+-----------
+
+This module is a representation of various sensors and uses OSI for its input and output.
+Currently it only has one type of sensor (SensorGeometric2D) which detects all objects in sector with specified range and opening angle.
+The input of the sensor is a OSI SensorView generated by the OSI World and its output is a OSI SensorData structure.
+
+For generation of the SensorView, a SensorViewConfiguration has to be provided by the sensor to the OSI World. See image for a visualization of the
+dataflow.
+
+.. figure:: ./images/SensorView_Dataflow.svg
+
+ OSI SensorView dataflow
+
+From OSI development perspective, the OSI World would have to send back a SensorViewConfiguration to the sensor, with the contents describing the
+actual configuration of the SensorView (since the World is maybe notable to provide the requested information).
+As we have full control over the simulation environment, this back-channel is skipped and SensorView according to the sensor'S SensorView configuration
+will always be provided.
+
+To test whether an object is inside our sector we check
+1. if it is inside the circle around the sensor with radius the detection range and
+2. if it intersects a suitable polygon
+
+Depending on the opening-angle the polygon in 2) has either four (angle < 180°) or five corners (angle >= 180°).
+
+.. figure:: ./images/Sensor2D_kite_polygon.png
+
+ four-corner kite polygon for angle lower than 180°
+
+======= ================= ================== =========
+Object intersects circle intersects polygon detected
+======= ================= ================== =========
+A true false false
+B true true true
+C false true false
+D false false false
+E true true true
+======= ================= ================== =========
+
+.. figure:: ./images/Sensor2D_five_corner_polygon.png
+
+ five-corner polygon for angle greater or equal 180° and greater 360°
+
+======= ================= ================== =========
+Object intersects circle intersects polygon detected
+======= ================= ================== =========
+A false true false
+B true true true
+C true true true
+D true false false
+E false false false
+======= ================= ================== =========
+
+For convex BBoxes the above will give correct detection results.
+
+Both polygons are constructed from corner-points consisting out of the intersection between the opening-angle boundaries at maximum detection range and their corresponding tangents.
+
+Function
+~~~~~~~~
+
+1. Construct the polygon based on the opening-angle
+2. Check if detection-field (polygon) intersects with any BBox (object-detection)
+3. Calculate the distance between sensor and object
+4. if (dist <= range && isIntersecting) -> object is in circular sector (object validation)
+
+Cases
+~~~~~
+
+- For angles < 1.0 * pi a four-corner (kite) polygon can be constructed out of two radiuses and two tangents.
+- For angles > = 1.0 * pi and < 2.0 * pi a five-corner polygon can be constructed of two radiuses an three tangents.
+- For opening-angle of exactly 2.0 * pi the distance information suffices. No polygon is needed.
+
+Visual Obstruction
+~~~~~~~~~~~~~~~~~~
+
+Objects in front of others block the sensors line of sight. If an object is large enough it might visually obstruct others.
+To check if one or multiple objects in combination "shadow" other objects the EnableVisualObstruction - flag can be set.
+Also the minimum required percentage of the visible area of an object to be detected can be specified.
+The implemented algorithm uses the concept of shadow-casting.
+
+**Basic**
+
+.. figure:: ./images/ShadowCasting.svg
+
+ Example of shadow-casting
+
+The sensor can be pictured as a light source.
+Every object in the detection field of the sensor will therefore cast a shadow and reduce the overall detection area behind it.
+If an object is shadowed too much, it is removed from the list of detected objects.
+After all shadows are removed, only the "real" detection field polygon (yellow area) remains.
+Objects in green and blue are detected.
+The red object is completely covered by shadows and therefore not detected.
+
+**Step by Step**
+
+Shadow casting is calculated as follows (see figure below):
+1. Approximate detection field as circular sector (bright area).
+2. Calculate the casted shadow of each object inside the detection field.
+3. Remove the casted shadow from the detection field.
+4. Check for each object if the remaining area is inside the remaining polygon.
+5. Removed objects if the relation `covered object area/total object area` is smaller than a parameterizable threshold.
+
+**Details**
+
+The approximation of the detection range is deliberately calculated along its edge and not by means of a tangential approximation.
+The areal error along the edge is regarded as negligible w.r.t to the sizes of objects and commonly used detection ranges.
+
+.. figure:: ./images/shadowing1.png
+
+ Shadow casting detail 1
+
+For the calculation of the shadowing polygon, the confining vectors for the object of interest are calculated (see detail 1).
+
+.. figure:: ./images/shadowing2.png
+
+ Shadow casting detail 2
+
+Scaling the length of the vectors w.r.t. the detection range would only to reach the boundary and not suffice, as the resulting polygon is too small (red area in detail 2 not covered).
+
+.. figure:: ./images/shadowing3.png
+
+ Shadow casting detail 3
+
+A larger scale factor is necessary, but needs to be calculated dynamically, as a too small factor might not suffice for very close objects and a very large factor could lead to numerical issues.
+Hence, the scale is calculated dynamically as depicted in detail 3, by comparing two isosceles triangles, laying in between the two vectors.
+This is only an approximation of the true triangles, but an upper bound, which allows faster processing.
+The final scale resolves to `detection_radius / projected_height`, where the projected height is taken from shorter vector.
+
+.. figure:: ./images/shadowing4.png
+
+ Shadow casting detail 4
+
+As shown in detail 4, the scale is just large enough to include the whole detection range, preventing potential numerical issues.
+This only holds as long as the detection range is approximated as described above.
+
+SensorFusionOSI
+---------------
+
+The SensorFusionOSI module allows unsorted aggregation of any data provided by sensors. All sampled detected objects can then be broadcasted to connected ADAS.
+
+It collects all SensorDataSignals and merges them into a single SensorDataSignal.
+
+.. _agentcomponents_signalprioritizer:
+
+SignalPrioritizer
+-----------------
+
+All channels can only have one source.
+If one module can have the same input type from multiple sources a prioritizer module is needed in between.
+All sources then get an output channel to the prioritizer module and the prioritizer gets an output to the module, which uses this signal.
+If more than an component sends an active signal during the same timestep, the prioritizer forwards only the signal from the input channel with the highest priority.
+These priorities are set as parameters in the systemconfigblueprint.xml, where the key corresponds the the id of the input channel and the value is the priority (higher value is prioritized).
+In the following example the channel with id 102 has the highest priority (3) and the channel with id 100 has the lowest priority (1).
+
+.. code-block:: xml
+
+ <component>
+ <id>PrioritizerName</id>
+ <schedule>
+ <priority>150</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>SignalPrioritizer</library>
+ <parameters>
+ <parameter>
+ <id>100</id>
+ <type>int</type>
+ <unit/>
+ <value>1</value>
+ </parameter>
+ <parameter>
+ <id>101</id>
+ <type>int</type>
+ <unit/>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <id>102</id>
+ <type>int</type>
+ <unit/>
+ <value>3</value>
+ </parameter>
+ </parameters>
+ </component>
+
+One prioritizer module can only handle signals of the same type and the signal class must be derived from ComponentStateSignal.
+If there is no signal in one time step, then the signal of the previous time step is hold.
+
+**Existing prioritizer modules**
+
+* PrioritizerAccelerationVehicleComponents
+* PrioritizerSteeringVehicleComponents
+* PrioritizerTurningIndicator
+* PrioritizerLongitudinal
+* PrioritizerSteering
+* PrioritizerDynamics
+
+
+ComponentController
+-------------------
+
+Overview
+~~~~~~~~~
+
+The ComponentController (CC) is used to configure and handle dependencies between other vehicle components.
+
+Example use cases could be:
+
+- Cruise control:
+
+ - driver requesting higher acceleration than cruise control overrides the latter
+ - driver braking deactivates cruise control
+
+- Lane keeping assistant:
+
+ - cannot be activated by driver, if emergency braking is currently active
+ - stays active, when emergency braking occurs (i. e. by other ADAS)
+
+The responsibilies of the CC are:
+
+- Handling of all dependencies between *VehicleComponents* in case a component wants to activate
+- Make information about driver, *TrajectoryFollower* and other *VehicleComponents* available to each other
+- Determine the highest allowed activation state of a component and notify the affected component about this state
+
+To achieve this tasks, each component is assigned a maximum allowed state in each time step. This state is of type ComponentState,
+which defines *Disabled*, *Armed* or *Active* as allowed states.
+Drivers can be in a state of either *Active* or *Passive*.
+
+State handling inside Vehicle Component
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Within a vehicle component, the information flow should be implemented as follows:
+
+1. The vehicle component retrieves the information of other components and the current maximum allowed state from the CC.
+ Other components include drivers, trajectory followers and all other vehicle components connected to the CC.
+2. Based on that information the vehicle component determines its current desired state.
+3. The desired state is sent to the CC.
+
+The CC handles all the dependencies between different components and determines the maximum allowed state for each component based
+on the configuration of the CC.
+
+Used signals
+~~~~~~~~~~~~~
+
+The CC communicates with the controlled components via framework signals.
+
+Inputs to the ComponentController:
+
+.. table::
+ :class: tight-table
+
+ ================== ===================================================== =============================
+ Source Contents Signal
+ ================== ===================================================== =============================
+ TrajectoryFollower Current state ComponentStateSignal
+ Driver Current state, pedal activity DriverStateSignal
+ VehicleComponent Current state, desired state, generic ADAS parameters VehicleCompToCompCtrlSignal
+ ================== ===================================================== =============================
+
+
+Output to other components:
+
+.. table::
+ :class: tight-table
+
+ ================== ========================================================================== =============================
+ Destination Contents Signal
+ ================== ========================================================================== =============================
+ TrajectoryFollower Current max. reachable state ComponentStateSignal
+ Driver List of all ADAS with names, stati and types AdasStateSignal
+ VehicleComponent Current max. reachable state, list of all ADAS with names, stati and types CompCtrlToVehicleCompSignal
+ ================== ========================================================================== =============================
diff --git a/content/html/_sources/advanced_topics/simulator/event_detector.rst.txt b/content/html/_sources/advanced_topics/simulator/event_detector.rst.txt
new file mode 100644
index 0000000..bf7aeec
--- /dev/null
+++ b/content/html/_sources/advanced_topics/simulator/event_detector.rst.txt
@@ -0,0 +1,39 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _eventdetector:
+
+EventDetector
+=============
+
+EventDetectors are executed at the beginning of each timestep.
+A detector uses its access to the world and the framework to detect specific events.
+After detection, the event is usually forwarded to the EventNetwork.
+
+There are multiple EventDetectors available, all of them sharing a common interface.
+
+.. note:: Each instance of an EventDetector can have its own cycle time.
+
+
+.. _eventdetector_collisiondetector:
+
+CollisionDetector
+-----------------
+
+The CollisionDetector checks whether a collision has occurred.
+Moving and stationary objects are taken into account.
+Objects are considered as collided, if their two-dimensional bounding boxes intersect.
+
+.. note:: The calculation of the bounding box itself considers a potential inclination by the roll angle of an object (projection onto the xy-plane).
+
+In case of a collision, a CollisionEvent containing the participating object Ids is created.
+This type of event is picked up by the CollisionManipulator, which updates the state of the collided objects accordingly.
+
diff --git a/content/html/_sources/advanced_topics/simulator/slave.rst.txt b/content/html/_sources/advanced_topics/simulator/simulation.rst.txt
similarity index 87%
rename from content/html/_sources/advanced_topics/simulator/slave.rst.txt
rename to content/html/_sources/advanced_topics/simulator/simulation.rst.txt
index f147d37..955e3a3 100644
--- a/content/html/_sources/advanced_topics/simulator/slave.rst.txt
+++ b/content/html/_sources/advanced_topics/simulator/simulation.rst.txt
@@ -1,115 +1,115 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _slave:
-
-Slave
-==========
-
-.. _slave_commandlinearguments:
-
-Command Line Arguments
------------------------
-
-The slave can be configured by applying the following command line arguments.
-Unspecified arguments will be defaulted (*default values in []*).
-
-The slave supports the following arguments:
-
-* *--logLevel* [0] :
- Logging level between 0 (minimum) and 5 (maximum - debug core)
-* *--logFile* [OpenPassSlave.log]* :
- Name of the log file
-* *--lib* [lib] :
- Path of the libraries (relative or absolute)
-* *--configs* [configs] :
- Path for writing outputs (relative or absolute)
-* *--results* [results] :
- Path for writing outputs (relative or absolute)
-
-.. _slave_scheduler:
-
-Scheduler
----------
-
-The Scheduler handles the sequence of agent based and common tasks before, during and after simulation.
-
-Executing phases
-~~~~~~~~~~~~~~~~
-
-Each simulation run splits up into 3 phases: Bootstrap tasks, Stepping and Finalize tasks.
-
-1. Initial task are grouped within the bootstrap tasks and are executed first and only once.
- This includes updating the Observation modules and triggering all PreRun Spawners.
-
-2. After this Spawning, PreAgent, NonRecurring, Recurring and Syncronize Tasks are processed for each timestep.
- First all Runtime Spawners are triggered.
- Whenever a new agent is spawned, all its components are parsed to *Trigger* and *Update* tasks, grouped and sorted by execution time as non-recurring and recurring tasks.
- Next all PreAgents task are executed, which includes publishing the world state to the DataStore in triggering all EventDetectors and Manipulators
- Non-recurring tasks are executed just once and will be deleted afterwards (*init* flag in ComponentRepository).
- Right after execution of all agent-based tasks, the Syncronize phase synchronizes all changes to the world as world state for the next timestep.
-
-3. The last phase is finalizing task, executed when an end condition is reached, such as end of simulation duration. Within this phase all EventDetectors and Manipulators are triggered and the Observation modules are updated one last time.
-
-Task type description
-~~~~~~~~~~~~~~~~~~~~~
-
-The scheduler handles 8 different task types:
-
-* **Spawning** - triggers agent spawning
-* **EventDetector** - execute event detector
-* **Manipulator** - execute manipulator
-* **Observation** - update observation modules
-* **Trigger** - execute trigger function of connected component
-* **Update** - execute update output of connected component and resulting input
-* **SyncWorld** - update world
-
-The following table gives an overview to all phases.
-
-.. table::
- :class: tight-table
-
- ================== ========== ======================================================== ===================================================================================
- Phase Changeable Task types Notes
- ================== ========== ======================================================== ===================================================================================
- Bootstrap no Spawning (PreRun), Observation
- Spawning no Spawning (Runtime), Observation
- PreAgent no SyncWorld (publishing), EventDetector, Manipulator
- Non recurring yes Trigger, Update Only components defined as "Init"
- Recurring yes Trigger, Update Non Init components
- Syncronize no SyncWorld Update the state of the agents and the virtual world (e.g. due to agent movements).
- Finalize no EventDetector, Manipulator, Observation
- ================== ========== ======================================================== ===================================================================================
-
-Task priorities
-~~~~~~~~~~~~~~~
-
-The order of the tasks within one phase depends on component priority and task type.
-All tasks for a given timestamp are ordered by the SchedulerTasks priority, and divided into the aformentioned phases.
-
-The following table shows the priorities for the non-component task types:
-
-.. table::
- :class: tight-table
-
- =============== ======== =================================================================================================
- Task type Priority Notes
- =============== ======== =================================================================================================
- Spawning 4 Highest priority, nothing can happen before any agent is instantiated.
- EventDetector 3
- Manipulator 2 The manipulator task uses the event detector tasks as input. Therefore it is called afterwards.
- SyncGlobalData 1
- Observation 0 Observation tasks have to be execute at the end.
- =============== ======== =================================================================================================
-
-The priority of trigger and update tasks depend on the priority within the SystemConfig.
-They are independent of non-component priorities.
-Since trigger tasks prepare output signals, output tasks are right called after the corresponding trigger tasks.
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _simulation:
+
+Simulation
+==========
+
+.. _simulation_commandlinearguments:
+
+Command Line Arguments
+-----------------------
+
+The simulation can be configured by applying the following command line arguments.
+Unspecified arguments will be defaulted (*default values in []*).
+
+The simulation supports the following arguments:
+
+* *--logLevel* [0] :
+ Logging level between 0 (minimum) and 5 (maximum - debug core)
+* *--logFile* [opSimulation.log]* :
+ Name of the log file
+* *--lib* [modules] :
+ Path of the libraries (relative or absolute)
+* *--configs* [configs] :
+ Path for writing outputs (relative or absolute)
+* *--results* [results] :
+ Path for writing outputs (relative or absolute)
+
+.. _simulation_scheduler:
+
+Scheduler
+---------
+
+The Scheduler handles the sequence of agent based and common tasks before, during and after simulation.
+
+Executing phases
+~~~~~~~~~~~~~~~~
+
+Each simulation run splits up into 3 phases: Bootstrap tasks, Stepping and Finalize tasks.
+
+1. Initial task are grouped within the bootstrap tasks and are executed first and only once.
+ This includes updating the Observation modules and triggering all PreRun Spawners.
+
+2. After this Spawning, PreAgent, NonRecurring, Recurring and Syncronize Tasks are processed for each timestep.
+ First all Runtime Spawners are triggered.
+ Whenever a new agent is spawned, all its components are parsed to *Trigger* and *Update* tasks, grouped and sorted by execution time as non-recurring and recurring tasks.
+ Next all PreAgents task are executed, which includes publishing the world state to the DataBuffer in triggering all EventDetectors and Manipulators
+ Non-recurring tasks are executed just once and will be deleted afterwards (*init* flag in ComponentRepository).
+ Right after execution of all agent-based tasks, the Syncronize phase synchronizes all changes to the world as world state for the next timestep.
+
+3. The last phase is finalizing task, executed when an end condition is reached, such as end of simulation duration. Within this phase all EventDetectors and Manipulators are triggered and the Observation modules are updated one last time.
+
+Task type description
+~~~~~~~~~~~~~~~~~~~~~
+
+The scheduler handles 8 different task types:
+
+* **Spawning** - triggers agent spawning
+* **EventDetector** - execute event detector
+* **Manipulator** - execute manipulator
+* **Observation** - update observation modules
+* **Trigger** - execute trigger function of connected component
+* **Update** - execute update output of connected component and resulting input
+* **SyncWorld** - update world
+
+The following table gives an overview to all phases.
+
+.. table::
+ :class: tight-table
+
+ ================== ========== ======================================================== ===================================================================================
+ Phase Changeable Task types Notes
+ ================== ========== ======================================================== ===================================================================================
+ Bootstrap no Spawning (PreRun), Observation
+ Spawning no Spawning (Runtime), Observation
+ PreAgent no SyncWorld (publishing), EventDetector, Manipulator
+ Non recurring yes Trigger, Update Only components defined as "Init"
+ Recurring yes Trigger, Update Non Init components
+ Syncronize no SyncWorld Update the state of the agents and the virtual world (e.g. due to agent movements).
+ Finalize no EventDetector, Manipulator, Observation
+ ================== ========== ======================================================== ===================================================================================
+
+Task priorities
+~~~~~~~~~~~~~~~
+
+The order of the tasks within one phase depends on component priority and task type.
+All tasks for a given timestamp are ordered by the SchedulerTasks priority, and divided into the aformentioned phases.
+
+The following table shows the priorities for the non-component task types:
+
+.. table::
+ :class: tight-table
+
+ =============== ======== =================================================================================================
+ Task type Priority Notes
+ =============== ======== =================================================================================================
+ Spawning 4 Highest priority, nothing can happen before any agent is instantiated.
+ EventDetector 3
+ Manipulator 2 The manipulator task uses the event detector tasks as input. Therefore it is called afterwards.
+ SyncGlobalData 1
+ Observation 0 Observation tasks have to be execute at the end.
+ =============== ======== =================================================================================================
+
+The priority of trigger and update tasks depend on the priority within the SystemConfig.
+They are independent of non-component priorities.
+Since trigger tasks prepare output signals, output tasks are right called after the corresponding trigger tasks.
diff --git a/content/html/_sources/advanced_topics/simulator/world_osi.rst.txt b/content/html/_sources/advanced_topics/simulator/world_osi.rst.txt
index 856ded1..4f35c96 100644
--- a/content/html/_sources/advanced_topics/simulator/world_osi.rst.txt
+++ b/content/html/_sources/advanced_topics/simulator/world_osi.rst.txt
@@ -1,259 +1,264 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _world_osi:
-
-World_OSI
-==========
-
-.. _world_coordinatesystems:
-
-Coordinate Systems
-------------------
-
-OpenPass uses 3 different coordinate systems.
-All systems rotate counterclockwise and use radian.
-
-World Coordinate System
-~~~~~~~~~~~~~~~~~~~~~~~
-
-The world coordinate system is absolute. It is the parent coordinate system and all other systems are relative to the world coordinate system.
-This system consists of *x*, *y* and *z* (*z* is currently unused).
-
-.. figure:: ./images/WorldCoordinateSystem.png
-
- World Coordinate System
-
-Road Coordinate System
-~~~~~~~~~~~~~~~~~~~~~~
-
-The road coordinate system is relative to the position of the road in the world coordinate system.
-It consists of *s* and *t* coordinates, where *s* describes the longitudinal position along the road.
-At the beginning of the road *s* = 0, increasing with the downstream direction of the road.
-The coordinate *t* describes the lateral position relative to the center of the road, where *t* > 0 indicates left side and *t < 0* right side of the road with respect to the road direction.
-
-.. figure:: ./images/RoadCoordinateSystem.png
-
- Road Coordinate System
-
-Agent Coordinate System
-~~~~~~~~~~~~~~~~~~~~~~~
-
-The agent coordinate system is relative to the position of the agent in the world coordinate system.
-It uses longitudinal, lateral and height (height currently unused).
-The system originates at the *reference point*, which is located at the center of the rear axle.
-The longitudinal axis is parallel to the length of the car and the lateral axis is parallel to the width of the car.
-
-.. figure:: ./images/AgentCoordinateSystem.png
-
- Agent Coordinate System
-
-.. _world_sampling:
-
-Sampling of World Geometries
-----------------------------
-
-.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
-.. _open simulation interface: https://github.com/OpenSimulationInterface
-.. _Ramer-Douglas-Peucker algorithm: https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm
-
-Roads are described following the `OpenDRIVE`_ specification.
-There the geometry of a road is defined algebraically as lines, clothoids and by means of cubic polynomials, whereby primarily only one reference line is defined.
-The lanes can be understood as a stack of parallel lanes, which are given by the width and the offset, now in relation to this reference line, which acts as the underlying coordinate system ('s/t' road coordinates with s along the road).
-Here, too, width and offset are defined algebraically, which means that almost any boundary lines can be defined.
-
-When the world is initialized, these boundary definitions (i.e. algebraic geometries) are converted into piecewise linear elements, which is called sampling.
-The road is scanned at a constant interval along 's', which leads to four-sided (quadrangular) sections of the lanes at common 's' coordinates, so-called lane elements (see LaneElement).
-The scanning is carried out at a scanning rate of 10 centimeters with the aim of achieving a total scanning error of less than 5 centimeters, as required by the representation used internally (c.f. `open simulation interface`_).
-Note that this error is only guaranteed if geometries do not exhibit extreme curvatures, i.e. a deviation of more than 5 cm within two sampling points (10 cm along s).
-The scanned points define so-called joints, which contain all scanned points at an 's' coordinate across all lane boundaries of the given road.
-The number of these joints is reduced by a `Ramer-Douglas-Peucker algorithm`_, which ensures that the maximum lateral error of each individual point within a joint is less than 5 cm compared to the originally scanned points.
-Note that (a) the boundary points of geometries are always retained and (b) additional points for lane marking transitions are also retained to ensure the maximum accuracy of these edge cases.
-The lane elements are generated with two successive connections, which are ultimately used in the localization at runtime (see :ref:`world_localization`).
-
-Internally, each lane element receives a constant direction, which is defined by the direction of the vector spanned between the centers of the corresponding connections.
-Each joint also holds the corresponding curvature of the road, so that the curvature can be interpolated linearly within a lane element along the 's' coordinate.
-
-.. _world_localization:
-
-Localization
-------------
-
-Generally, the position of an agent is stored with respect to [world coordinates (x,y)](\ref dev_concepts_coordinatesystems_world).
-As queries on the world operates in [road coordinates (s,t)](\ref dev_concepts_coordinatesystems_road), the position of the agent needs to be transformed.
-
-This section describes the translation of coordinates (x,y) of an agent into RoadCoordinate (s,t), whereas the notion of (s,t) comes from the `OpenDRIVE`_ standard.
-
-Basics
-~~~~~~
-
-The following image depics the basic principes of the localization which is rooted on the specifics of the OSI World Layer (aka OWL).
-
-.. figure:: ./images/LocalizationBasics.svg
-
- Localization Basics
-
-Given is a point P in cartesian coordinates (x/y).
-The task is to assign the point to a lane, defined by a general road geometry and calculate the transformed Point P' in road coordinates (s/t).
-
-Road geometry (based on OpenDRIVE):
-
- - A road consists of several sections
- - Each section consists of several lanes
- - Within a section, the number of lanes is constant
- - Lanes can have one predecessor and one successor
- - The road follows a reference line, which is the reference for the *s*\ -coordinate.
- The *t*\ -coordinate is perpendicular to this line.
-
-OWL specifics:
-
- - All lanes are sampled, generating a stream of generic quadrilaterals (LaneGeometryElements).
- - Within a section, the number of quads per lane is equal, and all lanes have the same length in s.
- - This is realized by a variable sampling width, determined by a constant sampling width along the longest arc.
- - Consequently, points perpendicular to the reference line (*t*\ -axis) have the same *s*\ -coordinate.
-
-Note, that the final *t*\ -coorindate is calculated with respect to a virtual reference line for each lane.
-This means, that points on the center of a lane have *t*\ -coordinate of 0.
-
-Localization sequence
-~~~~~~~~~~~~~~~~~~~~~
-
-.. _r-tree: https://www.boost.org/doc/libs/1_65_0/libs/geometry/doc/html/geometry/reference/spatial_indexes/boost__geometry__index__rtree.html
-
-An `r-tree`_ is used to store each LaneGeometryElement.
-Thereby, due to the nature of the r-tree, the bounding box of the LaneGeometryElement is described by its maximum Cartesian coordinates (x_min, x_max, y_min, y_max).
-Objects are located by retrieving all intersecting bounding boxes from the r-tree.
-The picture below shows an example of an agent (blue) with the corresponding Cartesian bounding box, and all located LaneGeometryElements.
-
-.. figure:: ./images/Localization1.png
-
- Example of bounding boxes of LaneGeometryElements and agent
-
-As the true boundary polygon may be smaller, the actual intersection polygon of the object and each LaneGeometryElement is calculated.
-For each point of a non-empty intersection polygon, the s and t coordinates are calculated and aggregated with respect to the underlying lane.
-For each touched lane, the minimum and maximum s coordinate, and the minimum and maximum lane remainder (delta t) is stored.
-
-.. figure:: ./images/Localization2.png
-
- Example for the calculation of s_min, s_max and delta_left
-
-In addition, if the reference point (i.e. the middle of the rear axle) or the mainLaneLocator (i.e. the middle of the agent front) are located within a LaneGeometryElement, s/t/yaw is calculated of each point, respectively.
-Further aggregation is done with respect to each road by calculating the minimum and maximum s for each road the agent intersects with.
-For the current route of an agent, the following information is stored: s/t/yaw of the reference point and mainLaneLocator on the route (roads along a route are not allowed to intersect), distance from the lane boundary to the left and right for the road(s) along the route, and OpenDRIVE Ids of the lanes on the route that the agent touches.
-The results also holds information wether both the reference point and the mainLaneLocator lay on the route.
-In the currently implementation, these points must be located - otherwise the agent is despawened, as the agent cannot execute distance queries without a relation to its current route.
-
-
-.. _world_trafficsigns:
-
-Traffic Signs and Road Markings
--------------------------------
-
-The world currently supports a variety of traffic signs and road markings.
-Both are defined in OpenDRIVE as "RoadSignal".
-At the moment it can only interpret traffic signs according to the German regulations "StVo".
-Traffic signs can contain optional supplementary traffic signs. Supplementary signs are dependent on a main traffic sign and contain additional information.
-The following traffic signs are supported:
-
-.. table::
- :class: tight-table
-
- ============================================= ========= =========== =================================================================================
- TrafficSign StVo Type Subtype Value and Units
- ============================================= ========= =========== =================================================================================
- GiveWay 205
- Stop 206
- DoNotEnter 267
- EnvironmentalZoneBegin 270.1
- EnvironmentalZoneEnd 270.2
- MaximumSpeedLimit 274 X The subtype "X" is used to define the speedlimit in km/h.
- Afterwards the world converts it to m/s.
- SpeedLimitZoneBegin 274.1 -/20 The subtype is used to define the speedlimit in km/h.
- Afterwards the world converts it to m/s.
- No subtype = 30km/h, 20 = 20km/h
- SpeedLimitZoneEnd 274.2 -/20 The subtype is used to define the speedlimit in km/h.
- Afterwards the world converts it to m/s.
- No subtype = 30km/h, 20 = 20km/h
- MinimumSpeedLimit 275 X The subtype is used to define the speedlimit in km/h.
- Afterwards the world converts it to m/s.
- OvertakingBanBegin 276
- OvertakingBanTrucksBegin 277
- EndOfMaximumSpeedLimit 278 X The subtype "X" is used to define the speedlimit in km/h.
- Afterwards the world converts it to m/s.
- EndOfMinimumSpeedLimit 279 X The subtype "X" is used to define the speedlimit in km/h.
- Afterwards the world converts it to m/s.
- OvertakingBanEnd 280
- OvertakingBanTrucksEnd 281
- EndOffAllSpeedLimitsAndOvertakingRestrictions 282
- RightOfWayNextIntersection 301
- RightOfWayBegin 306
- RightOfWayEnd 307
- TownBegin 310 This sign contains a text describing the name of the town
- TownEnd 311 This sign contains a text describing the name of the town
- TrafficCalmedDistrictBegin 325.1
- TrafficCalmedDistrictEnd 325.2
- HighWayBegin 330.1
- HighWayEnd 330.2
- HighWayExit 333
- AnnounceHighwayExit 448
- HighwayExitPole 450 50/51/52 The subtype describes the distance to the highway exit in m.
- 50 = 100m, 51 = 200m, 52 = 300m
- AnnounceRightLaneEnd 531 10/11/12/13 The subtype describes the number of continuing lanes after the right lane ends.
- 10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes
- AnnounceLeftLaneEnd 531 20/21/22/23 The subtype describes the number of continuing lanes after the left lane ends.
- 10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes
- DistanceIndication 1004 30/31/32 For subtype 30 the value describes the distance in m.
- For subtype 31 the value describes the distance in km.
- Subtype 32 has a STOP in 100m.
- ============================================= ========= =========== =================================================================================
-
-The following road markings are supported:
-
-.. table::
- :class: tight-table
-
- ======================= ========= ======= ================
- RoadMarking StVo Type Subtype Value and Units
- ======================= ========= ======= ================
- PedestrianCrossing 293
- Stop line 294
- ======================= ========= ======= ================
-
-The pedestrian crossing can also be defined in OpenDRIVE as object with type "crosswalk".
-
-.. _world_lanemarkings:
-
-Lane Markings
--------------
-
-The world also supports lane markings (i.e. printed lines between two lanes) according to the OpenDRIVE standard.
-The following attributes of the "roadMark" tag in the scenery file are stored in the world and can be retrieved by the GetLaneMarkings query: sOffset, type, weight, color.
-The weight is converted into a width in meter: 0.15 for standard and 0.3 for bold. Lane markings are also converted to OSI LaneBoundaries.
-For the OpenDRIVE type "solid solid", "solid broken", "broken solid", and "broken broken" two LaneBoundaries are created in OSI with a fixed lateral distance of 0.15m.
-
-.. _world_getobstruction:
-
-GetObstruction
---------------
-
-The GetObstruction function calculates the lateral distance an agent must travel in order to align with either the left or right boundary of a target object occupying the same lane.
-
-The calculation adheres to the following process:
-
-#) Project the agent's MainLaneLocator along the lane to the nearest and furthest s-coordinate of the target object, capturing the projected points
-#) Create a straight line from the two captured points
-#) Calculate the Euclidean distance of each of the target object's corners to the created line
-#) Return the left-most and right-most points with respect to the created line
-
-
-.. figure:: ./images/GetObstruction.png
-
- Example for the calculation of GetObstruction
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _world_osi:
+
+World_OSI
+==========
+
+.. _coordinatesystems:
+
+Coordinate Systems
+------------------
+
+OpenPass uses 3 different coordinate systems.
+All systems rotate counterclockwise and use radian.
+
+.. _world_coordinatesystem:
+
+World Coordinate System
+~~~~~~~~~~~~~~~~~~~~~~~
+
+The world coordinate system is absolute. It is the parent coordinate system and all other systems are relative to the world coordinate system.
+This system consists of *x*, *y* and *z* (*z* is currently unused).
+
+.. figure:: ./images/WorldCoordinateSystem.png
+
+ World Coordinate System
+
+.. _road_coordinatesystem:
+
+Road Coordinate System
+~~~~~~~~~~~~~~~~~~~~~~
+
+The road coordinate system is relative to the position of the road in the world coordinate system.
+It consists of *s* and *t* coordinates, where *s* describes the longitudinal position along the road.
+At the beginning of the road *s* = 0, increasing with the downstream direction of the road.
+The coordinate *t* describes the lateral position relative to the center of the road, where *t* > 0 indicates left side and *t < 0* right side of the road with respect to the road direction.
+
+.. figure:: ./images/RoadCoordinateSystem.png
+
+ Road Coordinate System
+
+Agent Coordinate System
+~~~~~~~~~~~~~~~~~~~~~~~
+
+The agent coordinate system is relative to the position of the agent in the world coordinate system.
+It uses longitudinal, lateral and height (height currently unused).
+The system originates at the *reference point*, which is located at the center of the rear axle.
+The longitudinal axis is parallel to the length of the car and the lateral axis is parallel to the width of the car.
+
+.. figure:: ./images/AgentCoordinateSystem.png
+
+ Agent Coordinate System
+
+.. _world_sampling:
+
+Sampling of World Geometries
+----------------------------
+
+.. _OpenDRIVE: https://www.asam.net/standards/detail/opendrive/
+.. _open simulation interface: https://github.com/OpenSimulationInterface
+.. _Ramer-Douglas-Peucker algorithm: https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm
+
+Roads are described following the `OpenDRIVE`_ specification.
+There the geometry of a road is defined algebraically as lines, clothoids and by means of cubic polynomials, whereby primarily only one reference line is defined.
+The lanes can be understood as a stack of parallel lanes, which are given by the width and the offset, now in relation to this reference line, which acts as the underlying coordinate system ('s/t' road coordinates with s along the road).
+Here, too, width and offset are defined algebraically, which means that almost any boundary lines can be defined.
+
+When the world is initialized, these boundary definitions (i.e. algebraic geometries) are converted into piecewise linear elements, which is called sampling.
+The road is scanned at a constant interval along 's', which leads to four-sided (quadrangular) sections of the lanes at common 's' coordinates, so-called lane elements (see LaneElement).
+The scanning is carried out at a scanning rate of 10 centimeters with the aim of achieving a total scanning error of less than 5 centimeters, as required by the representation used internally (c.f. `open simulation interface`_).
+Note that this error is only guaranteed if geometries do not exhibit extreme curvatures, i.e. a deviation of more than 5 cm within two sampling points (10 cm along s).
+The scanned points define so-called joints, which contain all scanned points at an 's' coordinate across all lane boundaries of the given road.
+The number of these joints is reduced by a `Ramer-Douglas-Peucker algorithm`_, which ensures that the maximum lateral error of each individual point within a joint is less than 5 cm compared to the originally scanned points.
+Note that (a) the boundary points of geometries are always retained and (b) additional points for lane marking transitions are also retained to ensure the maximum accuracy of these edge cases.
+The lane elements are generated with two successive connections, which are ultimately used in the localization at runtime (see :ref:`world_localization`).
+
+Internally, each lane element receives a constant direction, which is defined by the direction of the vector spanned between the centers of the corresponding connections.
+Each joint also holds the corresponding curvature of the road, so that the curvature can be interpolated linearly within a lane element along the 's' coordinate.
+
+.. _world_localization:
+
+Localization
+------------
+
+Generally, the position of an agent is stored with respect to :ref:`world coordinates (x,y) <world_coordinatesystem>`.
+As queries on the world operates in :ref:`road coordinates (s,t) <road_coordinatesystem>`, the position of the agent needs to be transformed.
+
+This section describes the translation of coordinates (x,y) of an agent into RoadCoordinate (s,t), whereas the notion of (s,t) comes from the `OpenDRIVE`_ standard.
+
+Basics
+~~~~~~
+
+The following image depics the basic principes of the localization which is rooted on the specifics of the OSI World Layer (aka OWL).
+
+.. figure:: ./images/LocalizationBasics.svg
+
+ Localization Basics
+
+Given is a point P in cartesian coordinates (x/y).
+The task is to assign the point to a lane, defined by a general road geometry and calculate the transformed Point P' in road coordinates (s/t).
+
+Road geometry (based on OpenDRIVE):
+
+ - A road consists of several sections
+ - Each section consists of several lanes
+ - Within a section, the number of lanes is constant
+ - Lanes can have one predecessor and one successor
+ - The road follows a reference line, which is the reference for the *s*\ -coordinate.
+ The *t*\ -coordinate is perpendicular to this line.
+
+OWL specifics:
+
+ - All lanes are sampled, generating a stream of generic quadrilaterals (LaneGeometryElements).
+ - Within a section, the number of quads per lane is equal, and all lanes have the same length in s.
+ - This is realized by a variable sampling width, determined by a constant sampling width along the longest arc.
+ - Consequently, points perpendicular to the reference line (*t*\ -axis) have the same *s*\ -coordinate.
+
+Note, that the final *t*\ -coorindate is calculated with respect to a virtual reference line for each lane.
+This means, that points on the center of a lane have *t*\ -coordinate of 0.
+
+Localization sequence
+~~~~~~~~~~~~~~~~~~~~~
+
+.. _r-tree: https://www.boost.org/doc/libs/1_65_0/libs/geometry/doc/html/geometry/reference/spatial_indexes/boost__geometry__index__rtree.html
+
+An `r-tree`_ is used to store each LaneGeometryElement.
+Thereby, due to the nature of the r-tree, the bounding box of the LaneGeometryElement is described by its maximum Cartesian coordinates (x_min, x_max, y_min, y_max).
+Objects are located by retrieving all intersecting bounding boxes from the r-tree.
+The picture below shows an example of an agent (blue) with the corresponding Cartesian bounding box, and all located LaneGeometryElements.
+
+.. figure:: ./images/Localization1.png
+
+ Example of bounding boxes of LaneGeometryElements and agent
+
+As the true boundary polygon may be smaller, the actual intersection polygon of the object and each LaneGeometryElement is calculated.
+For each point of a non-empty intersection polygon, the s and t coordinates are calculated and aggregated with respect to the underlying lane.
+For each touched lane, the minimum and maximum s coordinate, and the minimum and maximum lane remainder (delta t) is stored.
+
+.. figure:: ./images/Localization2.png
+
+ Example for the calculation of s_min, s_max and delta_left
+
+In addition, if the reference point (i.e. the middle of the rear axle) or the mainLaneLocator (i.e. the middle of the agent front) are located within a LaneGeometryElement, s/t/yaw is calculated of each point, respectively.
+Further aggregation is done with respect to each road by calculating the minimum and maximum s for each road the agent intersects with.
+For the current route of an agent, the following information is stored: s/t/yaw of the reference point and mainLaneLocator on the route (roads along a route are not allowed to intersect), distance from the lane boundary to the left and right for the road(s) along the route, and OpenDRIVE Ids of the lanes on the route that the agent touches.
+The results also holds information wether both the reference point and the mainLaneLocator lay on the route.
+In the currently implementation, these points must be located - otherwise the agent is despawened, as the agent cannot execute distance queries without a relation to its current route.
+
+
+.. _world_trafficsigns:
+
+Traffic Signs and Road Markings
+-------------------------------
+
+The world currently supports a variety of traffic signs and road markings.
+Both are defined in OpenDRIVE as "RoadSignal".
+At the moment it can only interpret traffic signs according to the German regulations "StVo".
+Traffic signs can contain optional supplementary traffic signs. Supplementary signs are dependent on a main traffic sign and contain additional information.
+The following traffic signs are supported:
+
+.. table::
+ :class: tight-table
+
+ ============================================= ========= =========== =================================================================================
+ TrafficSign StVo Type Subtype Value and Units
+ ============================================= ========= =========== =================================================================================
+ GiveWay 205
+ Stop 206
+ DoNotEnter 267
+ EnvironmentalZoneBegin 270.1
+ EnvironmentalZoneEnd 270.2
+ MaximumSpeedLimit 274 X The subtype "X" is used to define the speedlimit in km/h.
+ Afterwards the world converts it to m/s.
+ SpeedLimitZoneBegin 274.1 -/20 The subtype is used to define the speedlimit in km/h.
+ Afterwards the world converts it to m/s.
+ No subtype = 30km/h, 20 = 20km/h
+ SpeedLimitZoneEnd 274.2 -/20 The subtype is used to define the speedlimit in km/h.
+ Afterwards the world converts it to m/s.
+ No subtype = 30km/h, 20 = 20km/h
+ MinimumSpeedLimit 275 X The subtype is used to define the speedlimit in km/h.
+ Afterwards the world converts it to m/s.
+ OvertakingBanBegin 276
+ OvertakingBanTrucksBegin 277
+ EndOfMaximumSpeedLimit 278 X The subtype "X" is used to define the speedlimit in km/h.
+ Afterwards the world converts it to m/s.
+ EndOfMinimumSpeedLimit 279 X The subtype "X" is used to define the speedlimit in km/h.
+ Afterwards the world converts it to m/s.
+ OvertakingBanEnd 280
+ OvertakingBanTrucksEnd 281
+ EndOffAllSpeedLimitsAndOvertakingRestrictions 282
+ RightOfWayNextIntersection 301
+ RightOfWayBegin 306
+ RightOfWayEnd 307
+ TownBegin 310 This sign contains a text describing the name of the town
+ TownEnd 311 This sign contains a text describing the name of the town
+ TrafficCalmedDistrictBegin 325.1
+ TrafficCalmedDistrictEnd 325.2
+ HighWayBegin 330.1
+ HighWayEnd 330.2
+ HighWayExit 333
+ AnnounceHighwayExit 448
+ HighwayExitPole 450 50/51/52 The subtype describes the distance to the highway exit in m.
+ 50 = 100m, 51 = 200m, 52 = 300m
+ AnnounceRightLaneEnd 531 10/11/12/13 The subtype describes the number of continuing lanes after the right lane ends.
+ 10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes
+ AnnounceLeftLaneEnd 531 20/21/22/23 The subtype describes the number of continuing lanes after the left lane ends.
+ 10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes
+ DistanceIndication 1004 30/31/32 For subtype 30 the value describes the distance in m.
+ For subtype 31 the value describes the distance in km.
+ Subtype 32 has a STOP in 100m.
+ ============================================= ========= =========== =================================================================================
+
+The following road markings are supported:
+
+.. table::
+ :class: tight-table
+
+ ======================= ========= ======= ================
+ RoadMarking StVo Type Subtype Value and Units
+ ======================= ========= ======= ================
+ PedestrianCrossing 293
+ Stop line 294
+ ======================= ========= ======= ================
+
+The pedestrian crossing can also be defined in OpenDRIVE as object with type "crosswalk".
+
+.. _world_lanemarkings:
+
+Lane Markings
+-------------
+
+The world also supports lane markings (i.e. printed lines between two lanes) according to the OpenDRIVE standard.
+The following attributes of the "roadMark" tag in the scenery file are stored in the world and can be retrieved by the GetLaneMarkings query: sOffset, type, weight, color.
+The weight is converted into a width in meter: 0.15 for standard and 0.3 for bold. Lane markings are also converted to OSI LaneBoundaries.
+For the OpenDRIVE type "solid solid", "solid broken", "broken solid", and "broken broken" two LaneBoundaries are created in OSI with a fixed lateral distance of 0.15m.
+
+.. _world_getobstruction:
+
+GetObstruction
+--------------
+
+The GetObstruction function calculates the lateral distance an agent must travel in order to align with either the left or right boundary of a target object occupying the same lane.
+
+The calculation adheres to the following process:
+
+#) Project the agent's MainLaneLocator along the lane to the nearest and furthest s-coordinate of the target object, capturing the projected points
+#) Create a straight line from the two captured points
+#) Calculate the Euclidean distance of each of the target object's corners to the created line
+#) Return the left-most and right-most points with respect to the created line
+
+If the first step fails, because the ego lane does not extend to the object's position (i. e. it ends prematurely or the objects is outside the ego's route), then the result is invalid, which is indicated by a separate valid flag.
+
+.. figure:: ./images/GetObstruction.png
+
+ Example for the calculation of GetObstruction
diff --git a/content/html/_sources/developer_information/10_ide_support.rst.txt b/content/html/_sources/developer_information/10_ide_support.rst.txt
new file mode 100644
index 0000000..7287d9f
--- /dev/null
+++ b/content/html/_sources/developer_information/10_ide_support.rst.txt
@@ -0,0 +1,24 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+
+.. _ide_support:
+
+IDE Support
+===========
+
+Development of |op| is often done in Qt Creator and Visual Studio Code. This section provides guides to set up your build environment.
+
+.. toctree::
+ :glob:
+ :maxdepth: 1
+
+ ide_support/*
diff --git a/content/html/_sources/advanced_topics/10_documentation.rst.txt b/content/html/_sources/developer_information/20_documentation.rst.txt
similarity index 70%
rename from content/html/_sources/advanced_topics/10_documentation.rst.txt
rename to content/html/_sources/developer_information/20_documentation.rst.txt
index cf874b9..3d2560e 100644
--- a/content/html/_sources/advanced_topics/10_documentation.rst.txt
+++ b/content/html/_sources/developer_information/20_documentation.rst.txt
@@ -1,92 +1,97 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _documentation:
-
-Documentation Concept
-=====================
-
-|Op_oss| is developed under the Eclipse Public License and as such private and commercial use is allowed under certain rules (see `EPL 2.0 <https://www.eclipse.org/legal/epl-2.0/>`_).
-The basic documentation concept facilitates this by providing a way to include custom content which is not necessarily part of the |op_oss| distribution.
-This results in certain restrictions on how documentation is to be written.
-The following sections describe this restrictions and the process of integrating proprietary documentation into the |op_oss| documentation build.
-
-Basic Build Mechanics
----------------------
-
-The required steps to build the documentation are described in :ref:`sphinx`, provided by CMake files.
-Before building, a temporary copy of the original documentation is made.
-This temporary copy acts as *seam* for custom extension, as proprietary content is simply copied into the temporary folder (see below).
-This mechanism keeps contents clearly separated during development and allows easy transition from closed to open source if desired.
-
-References to files located outside of the documentation root is used at various places, as this allows to keep documentation as close to the source as possible.
-These references normally would become invalid when the documentation source is copied or moved to another location.
-Thus, a placeholder is used to have a fixed reference to the |op_oss| tree: *@*\ *OP_REL_SIM*\ *@*.
-This placeholder must be used when referencing files outside of the documentation root.
-Note that this also makes sources more readable.
-
-**Example**
-
-.. literalinclude:: /../../../sim/doc/source/user_guide/sim_user_guide/input/scenery.rst
- :start-at: OP_REL_SIM
- :lines: 1
-
-.. warning::
-
- Generally, when moving or deleting files, make sure to run ``make clean`` prior to ``make doc`` to remove any outdated files from the build directory.
-
-Adding Custom Content
----------------------
-
-#. **Write the documentation**
-
- As custom documentation simply integrates into the |op_oss| documentation, it is also written in the *reStructuredText* file format.
- Thereby files have to reside in a directory structure that is a clone of the open source documentation directory structure (starting from ``sim/doc/source``).
- During the build your documentation and the open source documentation will both be copied to a temporary directory.
-
- .. note:: Files existing in both source directories will be overwritten at the destination, with the custom files having higher precedence.
-
- On the TOC tree level, the **seam** to custom files is made through *globbing* using wildcards, such as ``folder/*.rst``.
- Ordering of the files (and to avoid file name collisions) is established through a two digit number prefix and an underscore, e.g. ``10_quickstart.rst``.
- This allows injection of proprietary documentation at any position in the TOC tree, as the order of headings is determined by the (ASCII) sorting of the filenames.
-
-#. **Referencing files**
-
- Sphinx uses some special path format when referencing files from documentation.
- All paths are relative to a single documentation root directory, but are specified like absolute paths (i.e. with a leading slash).
- Due to the documentation source files being copied to a temporary directory during build, all file references have to be prefixed with a well-known path constant:
-
- - When specifying a file reference to the |op_oss| repository, the file path has to be prefixed with *@*\ *OP_REL_SIM*\ *@*.
- - When referencing files relative to a custom root, an additional placeholder can be introduced in a custom ``PrepareDocCustom.cmake`` (see next steps).
- - These placeholders will then coexist and will be replaced by the correct paths during build.
-
-#. **Add a cmake file for documentation preparation**
-
- The file :download:`PrepareDocCustom.cmake<_static/custom_doc/PrepareDocCustom.cmake>` can be used as a template.
- Just add the placeholders used in your proprietary documentation.
-
- This diff highlights the important parts in comparison to the original ``PrepareDoc.cmake``, used in the open source documentation build:
-
- .. literalinclude:: /../../../sim/doc/source/advanced_topics/_static/custom_doc/PrepareDocCustom.cmake
- :diff: /../../../sim/doc/PrepareDoc.cmake
-
-#. **Add a ``doc`` CMake target to your custom build**
-
- To add your custom build target, the following ``CMakeLists.txt`` snippet can be used as template.
- Note the usage of the ``PrepareDocCustom.cmake``.
-
- .. literalinclude:: /../../../sim/doc/source/advanced_topics/_static/custom_doc/CMakeLists_doc.cmake
- :emphasize-lines: 23
-
-#. **Provide a config file for Sphinx**
-
- Sphinx allows to specify a configuration residing in ``conf.py`` in the documentation source directory.
- Customization is done by providing a customized file here, with the open source version as template (:download:`conf.py</../../../sim/doc/source/conf.py>`).
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _documentation:
+
+Documentation Concept
+=====================
+
+|Op_oss| is developed under the Eclipse Public License and as such private and commercial use is allowed under certain rules (see `EPL 2.0 <https://www.eclipse.org/legal/epl-2.0/>`_).
+The basic documentation concept facilitates this by providing a way to include custom content which is not necessarily part of the |op_oss| distribution.
+This results in certain restrictions on how documentation is to be written.
+The following sections describe this restrictions and the process of integrating proprietary documentation into the |op_oss| documentation build.
+
+Basic Build Mechanics
+---------------------
+
+The required steps to build the documentation are described in :ref:`download_and_install_openpass`, provided by CMake files using the build option ``WITH_GUI=ON``.
+Before building, a temporary copy of the original documentation is made.
+This temporary copy acts as *seam* for custom extension, as proprietary content is simply copied into the temporary folder (see below).
+This mechanism keeps contents clearly separated during development and allows easy transition from closed to open source if desired.
+
+References to files located outside of the documentation root is used at various places, as this allows to keep documentation as close to the source as possible.
+These references normally would become invalid when the documentation source is copied or moved to another location.
+Thus, placeholders are used to have a fixed reference to the |op_oss| tree:
+
+ - *@*\ *OP_REL_ROOT*\ *@* - Root of repository (``.``)
+ - *@*\ *OP_REL_GUI*\ *@* - Folder ``./gui``
+ - *@*\ *OP_REL_SIM*\ *@* - Folder ``./sim``
+
+This placeholders must be used when files outside of the documentation root shall be referenced.
+Note that this also makes sources more readable.
+
+**Example**
+
+.. literalinclude:: /../../../repo/doc/source/user_guide/configs/scenery.rst
+ :start-at: OP_REL_SIM
+ :lines: 1
+
+.. warning::
+
+ Generally, when moving or deleting files, make sure to run ``make clean`` prior to ``make doc`` to remove any outdated files from the build directory.
+
+openPASS as Submodule
+---------------------
+
+#. **Write the documentation**
+
+ As custom documentation simply integrates into the |op_oss| documentation, it is also written in the *reStructuredText* file format.
+ Thereby files have to reside in a directory structure that is a clone of the open source documentation directory structure (starting from ``doc/source``).
+ During the build your documentation and the open source documentation will both be copied to a temporary directory.
+
+ .. note:: Files existing in both source directories will be overwritten at the destination, with the custom files having higher precedence.
+
+ On the TOC tree level, the **seam** to custom files is made through *globbing* using wildcards, such as ``folder/*.rst``.
+ Ordering of the files (and to avoid file name collisions) is established through a two digit number prefix and an underscore, e.g. ``10_quickstart.rst``.
+ This allows injection of proprietary documentation at any position in the TOC tree, as the order of headings is determined by the (ASCII) sorting of the filenames.
+
+#. **Referencing files**
+
+ Sphinx uses some special path format when referencing files from documentation.
+ All paths are relative to a single documentation root directory, but are specified like absolute paths (i.e. with a leading slash).
+ Due to the documentation source files being copied to a temporary directory during build, all file references have to be prefixed with a path constant:
+
+ - When specifying a file reference relative to the |op_oss| repository, the file path has to be prefixed with custom placeholders, such as *@*\ *OP_REL_ROOT*\ *@* (see above).
+ - When referencing files relative to a custom root, additional placeholders can be introduced in a custom ``PrepareDocCustom.cmake`` (see next steps).
+ - These placeholders will then coexist and will be replaced with the corresponding paths during build.
+
+#. **Add a cmake file for documentation preparation**
+
+ The file :download:`PrepareDocCustom.cmake<_static/custom_doc/PrepareDocCustom.cmake>` can be used as a template.
+ Just add the placeholders used in your proprietary documentation.
+
+ This diff highlights the important parts in comparison to the original ``PrepareDoc.cmake``, used in the open source documentation build:
+
+ .. literalinclude:: _static/custom_doc/PrepareDocCustom.cmake
+ :diff: /../../../repo/doc/PrepareDoc.cmake
+
+#. **Add a ``doc`` CMake target to your custom build**
+
+ To add your custom build target, the following ``CMakeLists.txt`` snippet can be used as template.
+ Note the usage of the ``PrepareDocCustom.cmake``.
+
+ .. literalinclude:: _static/custom_doc/CMakeLists_doc.cmake
+ :emphasize-lines: 23
+
+#. **Provide a config file for Sphinx**
+
+ Sphinx allows to specify a configuration residing in ``conf.py`` in the documentation source directory.
+ Customization is done by providing a customized file here, with the open source version as template (:download:`/../../../repo/doc/source/conf.py`).
diff --git a/content/html/_sources/installation_guide/sim_installation_guide/ides/20_qt_creator.rst.txt b/content/html/_sources/developer_information/ide_support/20_qt_creator.rst.txt
similarity index 71%
rename from content/html/_sources/installation_guide/sim_installation_guide/ides/20_qt_creator.rst.txt
rename to content/html/_sources/developer_information/ide_support/20_qt_creator.rst.txt
index 5509b4a..ae0e4c3 100644
--- a/content/html/_sources/installation_guide/sim_installation_guide/ides/20_qt_creator.rst.txt
+++ b/content/html/_sources/developer_information/ide_support/20_qt_creator.rst.txt
@@ -1,128 +1,121 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-Working with Qt Creator
-=======================
-
-Settings (MSYS2)
-----------------
-
-Setup Cmake-Kit
-~~~~~~~~~~~~~~~
-
-#. Add Cmake under ``Tools -> Options -> Kits -> Cmake``
-
- .. figure:: _static/images/qtcreator_settings_cmake.png
- :align: center
- :scale: 60%
-
-
-#. Add C and C++ Compilers under ``Tools -> Options -> Kits -> Compilers``
-
- .. figure:: _static/images/qtcreator_settings_g++.png
- :align: center
- :scale: 60%
-
-
- .. figure:: _static/images/qtcreator_settings_gcc.png
- :align: center
- :scale: 60%
-
-
-#. Add Debugger under ``Tools -> Options -> Kits -> Debuggers``
-
- .. figure:: _static/images/qtcreator_settings_gdb.png
- :align: center
- :scale: 60%
-
-
-#. Add Kit under ``Tools -> Options -> Kits -> Kits``
-
- .. figure:: _static/images/qtcreator_settings_kit.png
- :align: center
- :scale: 60%
-
-
-#. Adjust ``Cmake Generator`` under ``Tools -> Options -> Kits -> Kits`` to ``MinGW Makefiles``
-
- .. figure:: _static/images/qtcreator_settings_cmake_generator.png
- :align: center
- :scale: 60%
-
- .. note::
-
- Change the environment variable to ``MAKEFLAGS=-j4`` (or similar) to enable parallel building on the kit level.
-
-Setup Project
-~~~~~~~~~~~~~~
-
-#. Load the project by opening a ``CMakeLists.txt`` file and configure it to use the new kit.
-
-#. Setup missing Cmake flags (c.f. :ref:'Cmake')
-
- .. todo:: The configuration is still "itchy", as Qt creator changes the interface with every version
-
-#. Override the make command under ``Project -> Build -> Build Steps`` to ``mingw32-make``
-
- .. figure:: _static/images/qtcreator_project_make.png
- :align: center
- :scale: 60%
-
- .. note::
-
- Unfortunatly, there seems to be no way to enable ``mingw32-make`` on the kit level.
-
-Settings (Linux)
-----------------
-
-Setup Kit
-~~~~~~~~~
-
-Qt Creator should be able to come up with a suiteable kit for developing |op| on its own.
-If not, check if all :ref:`prerequisites` are met. Also, the steps above should be a good indicator, where to look for potential troubles.
-
-Setup Project
-~~~~~~~~~~~~~~
-
-#. Load the project by opening a ``CmakeLists.txt`` file and configure it to use a proper kit.
-
-#. Setup missing Cmake flags (c.f. :ref:'Cmake')
-
- .. todo:: The configuration is still "itchy", as Qt creator changes the interface with every version
-
-Alternative Method
-------------------
-
-.. admonition:: Version Issues
-
- Qt Creator is constantly improving the Cmake integration.
- Unfortunatly, some versions seem to be **buggy**.
-
- Tested Versions: 4.13.2 | 4.12.2
-
-#. Follow the install instructions to invoke cmake from within your own build directory.
- - Execute the step for ``build-release``
- - Execute the step for ``build-debug``
-#. Open Qt Creator
-#. Open ``CMakeLists.txt``
-#. Qt Creator should find the configured build directories and create a temporary kit
-
- .. figure:: _static/images/qtcreator_project_cmake.png
- :align: center
- :scale: 60%
-
- .. figure:: _static/images/qtcreator_project_loaded.png
- :align: center
- :scale: 60%
-
- .. figure:: _static/images/qtcreator_project_cmake_settings.png
- :align: center
- :scale: 60%
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _qtcreator:
+
+Working with Qt Creator
+=======================
+
+Settings (MSYS2)
+----------------
+
+Setup CMake-Kit
+~~~~~~~~~~~~~~~
+
+#. Add CMake under ``Tools -> Options -> Kits -> CMake``
+
+ .. figure:: _static/images/qtcreator_settings_cmake.png
+ :align: center
+ :scale: 60%
+
+
+#. Add C and C++ Compilers under ``Tools -> Options -> Kits -> Compilers``
+
+ .. figure:: _static/images/qtcreator_settings_g++.png
+ :align: center
+ :scale: 60%
+
+
+ .. figure:: _static/images/qtcreator_settings_gcc.png
+ :align: center
+ :scale: 60%
+
+
+#. Add Debugger under ``Tools -> Options -> Kits -> Debuggers``
+
+ .. figure:: _static/images/qtcreator_settings_gdb.png
+ :align: center
+ :scale: 60%
+
+
+#. Add Kit under ``Tools -> Options -> Kits -> Kits``
+
+ .. figure:: _static/images/qtcreator_settings_kit.png
+ :align: center
+ :scale: 60%
+
+
+#. Adjust ``CMake Generator`` under ``Tools -> Options -> Kits -> Kits`` to ``MSYS Makefiles``
+
+ .. figure:: _static/images/qtcreator_settings_cmake_generator.png
+ :align: center
+ :scale: 60%
+
+ .. note::
+
+ Change the environment variable to ``MAKEFLAGS=-j4`` (or similar) to enable parallel building on the kit level.
+
+Setup Project
+~~~~~~~~~~~~~~
+
+#. Load the project by opening a ``CMakeLists.txt`` file and configure it to use the new kit.
+
+#. Setup missing CMake flags (c.f. :ref:'CMake')
+
+ .. todo:: The configuration is still "itchy", as Qt creator changes the interface with every version
+
+
+Settings (Linux)
+----------------
+
+Setup Kit
+~~~~~~~~~
+
+Qt Creator should be able to come up with a suiteable kit for developing |op| on its own.
+If not, check if all :ref:`prerequisites` are met. Also, the steps above should be a good indicator, where to look for potential troubles.
+
+Setup Project
+~~~~~~~~~~~~~~
+
+#. Load the project by opening a ``CMakeLists.txt`` file and configure it to use a proper kit.
+
+#. Setup missing CMake flags (c.f. :ref:'CMake')
+
+ .. todo:: The configuration is still "itchy", as Qt creator changes the interface with every version
+
+Alternative Method
+------------------
+
+.. admonition:: Version Issues
+
+ Qt Creator is constantly improving the CMake integration.
+ Unfortunatly, some versions seem to be **buggy**.
+
+ Tested Versions: 4.13.2 | 4.12.2
+
+#. Follow the install instructions to invoke cmake from within your own build directory.
+ - Execute the step for ``build-release``
+ - Execute the step for ``build-debug``
+#. Open Qt Creator
+#. Open ``CMakeLists.txt``
+#. Qt Creator should find the configured build directories and create a temporary kit
+
+ .. figure:: _static/images/qtcreator_project_cmake.png
+ :align: center
+ :scale: 60%
+
+ .. figure:: _static/images/qtcreator_project_loaded.png
+ :align: center
+ :scale: 60%
+
+ .. figure:: _static/images/qtcreator_project_cmake_settings.png
+ :align: center
+ :scale: 60%
diff --git a/content/html/_sources/developer_information/ide_support/30_vscode.rst.txt b/content/html/_sources/developer_information/ide_support/30_vscode.rst.txt
new file mode 100644
index 0000000..326af91
--- /dev/null
+++ b/content/html/_sources/developer_information/ide_support/30_vscode.rst.txt
@@ -0,0 +1,256 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. |win_only| image:: /_static/win_only.png
+
+.. _vscode:
+
+Working with Visual Studio Code
+===============================
+
+This section describes the basic setup for Visual Studio Code.
+
+.. figure:: _static/images/vscode_quick_intro.png
+ :align: center
+
+ Correctly configured Visual Studio Code showing -- among other things -- **left**, debugging, testmate, and cmake pane selectors, and at the **bottom**, build type, kit, current target, and CTest runner.
+
+Assumptions
+-----------
+
+- For brevity, non-standard libraries are expected to be in the folder ``./deps/thirdParty``.
+- |win_only| **MSYS2/MinGW 64 Bit** is used.
+
+Installation
+------------
+
+1. Install Visual Studio Code (https://code.visualstudio.com)
+
+2. Install Extensions
+
+.. table::
+
+ ======================================================================================================== =======================================================
+ Name Purpose
+ ======================================================================================================== =======================================================
+ `C/C++ <https://marketplace.visualstudio.com/items?itemName=ms-vscode.cpptools>`_ Support for C/C++, including IntelliSense and debugging
+ `CMake Tools <https://vector-of-bool.github.io/docs/vscode-cmake-tools>`_ Extended CMake support
+ `C++ Testmate <https://marketplace.visualstudio.com/items?itemName=matepek.vscode-catch2-test-adapter>`_ Run and debug GoogleTest
+ `MSYS2/Cygwin/MinGW/Clang support <https://marketplace.visualstudio.com/items?itemName=fougas.msys2>`_ |win_only| MSYS2/MinGW configuration adapter
+ ======================================================================================================== =======================================================
+
+3. Open the repository as folder, e.g. by calling ``code simopenpass`` after checking out.
+ Say yes, when CMake Tools ask to configure the project.
+ This creates a ``build`` folder, **but fails** (well, we need to config some stages).
+
+Configuration
+-------------
+
+|win_only| MSYS2 Path
++++++++++++++++++++++
+
+Normally, runtime dependencies (DLLs) are not copied into the executables folder within the build process.
+This means, that programs cannot be executed natively from Windows shells or the explorer.
+It is therefore highly recommended, to set the environmental variable ``MSYSTEM=MINGW64`` and ``CHERE_INVOKING=1``.
+The setting of ``MSYSTEM`` will cause the environment to be set up correctly for MinGW64.
+Windows will then look for DLLs within the msys64 folders, allowing native execution.
+``CHERE_INVOKING`` makes sure the shell stays in the current working directory.
+As investigated recently, the ``C:\msys64\usr\bin``must also be added to the ``PATH`` environment variable in order to resolve dependencies to ``cygpath.exe``.
+
+Either set environment variable through the ``Windows PowerShell``
+
+.. code:: PowerShell
+
+ # check if set
+ echo ${env:path}
+ echo ${env:MSYSTEM}
+ echo ${env:CHERE_INVOKING}
+
+ # if not
+ setx path "%PATH%;C:\msys64\usr\bin"
+ setx MSYSTEM "MINGW64"
+ setx CHERE_INVOKING "1"
+
+or
+
+1. Open the start search
+2. Type in “env” and choose “Edit the system environment variables”
+3. Choose “Environment Variables…”
+4. Set the environment variables:
+
+ i. MSYSTEM=MINGW64
+ ii. CHERE_INVOKING=1
+ iii. Add ``C:\msys64\usr\bin`` to PATH
+
+Visual Studio Code needs to be reloaded/restarted after the path update.
+
+.. note::
+
+ An optimal solution would be to set the system environment variables in VSCode under ``settings.json``. This is currently not possible. Please contact us if you find a better solution.
+
+IDEs, as Qt Creator, might set this variable base on the current build type on their own.
+
+Build Kit
++++++++++
+
+.. tabs::
+
+ .. tab:: Windows
+
+ **Add and select MSYS2/MinGW64 Build Kit:**
+
+ 1. Execute ``Ctrk+Shift+P``: ``CMake: Edit User-Local CMake Kits``
+
+ 2. Insert/Update:
+
+ .. literalinclude:: _static/vscode/config/win/cmake-tools-kits.json
+ :caption: cmake-tools-kits.json
+ :language: javascript
+ :linenos:
+
+ :download:`Download <_static/vscode/config/win/cmake-tools-kits.json>`
+
+ 3. ``Ctrk+Shift+P``: ``CMake: Select a Kit`` = ``MinGW64``
+
+ .. tab:: Linux
+
+ **Select System Build Kit:**
+
+ ``Ctrk+Shift+P``: ``CMake: Select a Kit`` = ``GCC 10.2.0``
+
+ See also :ref:`prerequisites`.
+
+User Settings
++++++++++++++
+
+1. Execute ``Ctrk+Shift+P``: ``Preferences Open Workspace Settings (JSON)``
+
+2. Insert/Update:
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. literalinclude:: _static/vscode/config/win/settings.json
+ :caption: settings.json
+ :language: javascript
+ :linenos:
+
+ :download:`Download <_static/vscode/config/win/settings.json>`
+
+ .. tab:: Linux
+
+ .. literalinclude:: _static/vscode/config/linux/settings.json
+ :caption: settings.json
+ :language: javascript
+ :linenos:
+
+ :download:`Download <_static/vscode/config/linux/settings.json>`
+
+
+C++ and IntelliSense
+++++++++++++++++++++
+
+1. Execute ``Ctrk+Shift+P``: ``C/C++: Edit Configurations (JSON)``
+
+2. .. literalinclude:: _static/vscode/config/c_cpp_properties.json
+ :caption: c_cpp_properties.json
+ :language: javascript
+ :linenos:
+
+ :download:`Download <_static/vscode/config/c_cpp_properties.json>`
+
+Configure the Build
++++++++++++++++++++
+
+Execute ``Ctrk+Shift+P``: ``CMake: Configure``
+
+
+CMake should now be able to configure the project.
+If not, cmake should give you at least a hint, what's missing (normally external libraries).
+Read :ref:`cmake` or :ref:`prerequisites` for more information.
+
+.. admonition:: CMake
+
+ Some changes such as changing the build type (Debug/Release) will cause CMake to updates the configuration automatically.
+ Other changes won't trigger an update, such as changing the paths to libraries (`CMAKE_PREFIX_PATH`), the cmake cache needs to be cleared before reconfiguration:
+ ``Ctrk+Shift+P`` > ``CMake: Delete Cache and Reconfigure``
+
+Debug Targets
++++++++++++++
+
+CMake Tools and C++ Testmate automatically use custom launch configurations, if available.
+When using the debugging functionality, the according executable will be executed from where they are built (per default inside the ``build`` folder).
+
+- This is acceptable for unit test, which do not require openPASS specific libraries.
+ The corresponding config is ``CMake Target``.
+
+- For the core, located at ``./build/sim/src/core/opSimulation/opSimulation``, this does not work, as no libraries and no configurations are available.
+ As a solution, a second debug target ``opsimulation`` points at the installed executable instead.
+
+ .. warning:: Don't forget to run the target ``install`` before debugging .
+
+1. Got to "Run and Debug" (``Ctrl+Shift+D``) and *create a launch.json file*.
+
+2. Insert/Update:
+
+.. tabs::
+
+ .. tab:: Windows
+
+ .. literalinclude:: _static/vscode/config/win/launch.json
+ :caption: launch.json
+ :language: javascript
+ :linenos:
+
+ :download:`Download <_static/vscode/config/win/launch.json>`
+
+ .. tab:: Linux
+
+ .. literalinclude:: _static/vscode/config/linux/launch.json
+ :caption: launch.json
+ :language: javascript
+ :linenos:
+
+ :download:`Download <_static/vscode/config/linux/launch.json>`
+
+.. note::
+
+ IntelliSense uses the ``compile_commands.json`` of generated through ``CMAKE_EXPORT_COMPILE_COMMANDS=ON`` (see ``settings.json``).
+ This is necessary for proper resolution of the include files.
+
+
+Troubleshooting
+---------------
+
+|win_only| **Program does not start**
+
+The most effective way to debug startup issues is by means of the `Process Monitor <https://docs.microsoft.com/en-us/sysinternals/downloads/procmon>`_.
+
+But normally, its a missing DLL. When executing the program via command line or explorer a message box should prompt which DLLs are missing.
+A simple solution is to copy the according DLLs into the folder of the executable.
+Another solution is to make the path available by extending the ``PATH`` environment variable.
+Potential sources for missing DLLs are ``C:\msys64\mingw64\bin``, ``C:\msys64\mingw64\x86_64-w64-mingw32\lib``, and the ``build`` folder itself.
+
+**Tests are not listed**
+
+For test discovery, C++ Testmate needs to know the location of all additional dependencies.
+This information is retrieved from the current debug configuration.
+
+#. Testmate discovers tests only after they are built.
+ It pays to ``Run CTest`` to build all test targets.
+ After this, you should see all tests in the testing pane on the left.
+
+#. Still not listed? Set ``testMate.cpp.log.logfile`` in ``settings.json`` and check log.
+
+ #. Test executable not mentioned at all:
+ Executable name might not fit (check glob pattern in ``testMate.cpp.test.executables``).
+ #. Log reports *Error: Not a supported test executable*: a library/DLL might be missing.
diff --git a/content/html/_sources/index.rst.txt b/content/html/_sources/index.rst.txt
index 7a90007..6f51362 100644
--- a/content/html/_sources/index.rst.txt
+++ b/content/html/_sources/index.rst.txt
@@ -1,59 +1,67 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-OpenPASS Documentation
-======================
-
-The OpenPASS (Open Platform for Assessment of Safety Systems) tool is a developed framework for the simulation of interaction between traffic participants to evaluate and parametrize active safety systems.
-The simulation is based on a specific situation configuration and can contain several simulation runs, which differ due to random parameters.
-
-The software suite of openPASS started as a set of stand-alone applications, which can be installed and configured individually.
-Over time, especially the graphical user interface evolved to a single entry point, enabling the average user to use openPASS as a "monolithic" tool.
-
-This guide contains information about installation, configuration and usage of all tools in the |Op| environment.
-
-.. toctree::
- :caption: Installation Guides
- :glob:
- :maxdepth: 1
-
- installation_guide/*
-
-The GUI lets the user configure the simulation and generate configuration files from all set parameters.
-Based on these the simulation core calculates different simulation runs and compiles trace files for further processing.
-
-.. toctree::
- :caption: User Guides
- :glob:
- :maxdepth: 1
-
- user_guide/*
-
-.. toctree::
- :caption: Advanced topics
- :glob:
- :maxdepth: 1
-
- advanced_topics/*
-
-.. include:: api.rst
-
-.. toctree::
- :caption: Other Information
- :maxdepth: 1
-
- glossary.rst
- license.rst
-
-Todolist
-========
-
-.. todolist::
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+OpenPASS Documentation
+======================
+
+The OpenPASS (Open Platform for Assessment of Safety Systems) tool is a developed framework for the simulation of interaction between traffic participants to evaluate and parametrize active safety systems.
+The simulation is based on a specific situation configuration and can contain several simulation runs, which differ due to random parameters.
+
+The software suite of openPASS started as a set of stand-alone applications, which can be installed and configured individually.
+Over time, especially the graphical user interface evolved to a single entry point, enabling the average user to use openPASS as a "monolithic" tool.
+
+This guide contains information about installation, configuration and usage of all tools in the |Op| environment.
+
+.. toctree::
+ :caption: Installation Guide
+ :glob:
+ :maxdepth: 1
+
+ installation_guide/*
+
+The GUI lets the user configure the simulation and generate configuration files from all set parameters.
+Based on these the simulation core calculates different simulation runs and compiles trace files for further processing.
+
+.. toctree::
+ :caption: User Guides
+ :glob:
+ :maxdepth: 1
+
+ user_guide/*
+
+.. toctree::
+ :caption: Advanced topics
+ :glob:
+ :maxdepth: 1
+
+ advanced_topics/*
+
+..
+ .. include:: api.rst
+
+.. toctree::
+ :caption: Developer Information
+ :glob:
+ :maxdepth: 1
+
+ developer_information/*
+
+.. toctree::
+ :caption: Other Information
+ :glob:
+ :maxdepth: 1
+
+ other_information/*
+
+Todolist
+========
+
+.. todolist::
diff --git a/content/html/_sources/installation_guide/10_getting_started.rst.txt b/content/html/_sources/installation_guide/10_getting_started.rst.txt
new file mode 100644
index 0000000..0127e93
--- /dev/null
+++ b/content/html/_sources/installation_guide/10_getting_started.rst.txt
@@ -0,0 +1,38 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _sim_install_guide:
+
+Getting Started
+===============
+
+Your first step to get |op| up and running is the installation. You can install the |op| simulator on Windows and Linux.
+
+The installation manual is structured as follows:
+
+**Setting up your system**
+
+- :ref:`Prerequisites` contains instructions for installing the thirdparty software required by |op|
+
+**Installation of the simulator**
+
+- :ref:`Download_and_install_openpass` describes how to compile and run |op| once all prerequisites are installed
+
+**Run a default simulation**
+
+- :ref:`tutorials` shows how to run your first simulations
+
+**Further guidance**
+
+- :ref:`Cmake` holds information about available variables and options for the cross-platform build environment CMake
+- :ref:`Qtcreator` describes the basic setup for QtCreator
+- :ref:`Vscode` describes the basic setup for Visual Studio Code
+- :ref:`Building_protobuf` shows how to compile different versions of Protobuf and hook it into the |op| build
diff --git a/content/html/_sources/installation_guide/10_gui_installation_guide.rst.txt b/content/html/_sources/installation_guide/10_gui_installation_guide.rst.txt
deleted file mode 100644
index 0501604..0000000
--- a/content/html/_sources/installation_guide/10_gui_installation_guide.rst.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-GUI Installation Guide
-=============================
-
-.. todo:: Add GUI installation guide.
diff --git a/content/html/_sources/installation_guide/20_install_prerequisites.rst.txt b/content/html/_sources/installation_guide/20_install_prerequisites.rst.txt
new file mode 100644
index 0000000..cb92c7b
--- /dev/null
+++ b/content/html/_sources/installation_guide/20_install_prerequisites.rst.txt
@@ -0,0 +1,523 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. |win_only| image:: /_static/win_only.png
+
+.. _prerequisites:
+
+Installing Prerequisites
+========================
+
+Before being able to compile and run |op|, make sure to have all dependencies installed.
+The third party software dependency of |op| can be divided into:
+
+- **Build environment**, which manages third party software and is used to compile and install |op|
+- **Binary packages**, which can be easily installed via a package manager of the respective build environment
+- **Source packages**, which need to be built from source code
+
+This section gives detailed information about the prerequisites and tested version.
+
+.. _building_under_windows:
+
+Installing the Build Environment
+--------------------------------
+
+.. tabs::
+
+ .. tab:: Windows
+
+ #. MSYS2
+
+ On Windows, the build environment of choice are :term:`MSYS2` programming tools.
+ :term:`MSYS2` is used to install some third-party software on which |op| depends.
+ Also, the unix-like shell simplifies c++ compilation on Windows.
+ For details, see `MSYS2 website <https://www.msys2.org/>`_.
+
+
+ .. _msys2:
+
+ #. Download MSYS2
+
+ The latest 64-bit packages are located at https://repo.msys2.org/distrib/x86_64/.
+ Download a non-base package, i.e. `msys2-x86_64-20200903.exe <https://repo.msys2.org/distrib/x86_64/msys2-x86_64-20200903.exe>`_
+
+
+ .. _msys2_installation:
+
+ #. Install MSYS2
+
+ Run the downloaded executable and adjust suggested settings to your needs (defaults are fine).
+ In the following, it is assumed that MSYS2 is installed under ``C:\msys64``.
+
+ #. Understand the Build Environment
+
+ MSYS2 provides three different environments, located in the MSYS2 installation directory:
+
+ .. _fig_msys2_environments:
+
+ .. figure:: _static/images/msys2.png
+ :align: center
+ :alt: MSYS2 Apps
+
+ MSYS2 Environments
+
+ - MSYS2 MSYS: Common environment, i.e. for package management
+ - MSYS2 MinGW 32-bit: A MinGW 32-bit environment
+ - MSYS2 MinGW 64-bit: A MinGW 64-bit environment
+
+ .. warning::
+
+ | MSYS2 MinGW 64-bit is **the** |op| development environment and will be referred to as |mingw_shell|.
+
+ .. _building_under_linux:
+
+ .. tab:: Linux
+
+ On Linux, no special build environment is needed. |Op| is developed under Debian 64-Bit,
+ which means that developing under a recent Ubuntu distribution will also work.
+ Debian Bullseye or Ubuntu 20.10 is recommended. Debian uses ``apt`` (or ``apt-get``) as package managing system.
+ Details will be given in :ref:`binary_packages` and :ref:`building_prerequisites`.
+
+
+.. _binary_packages:
+
+Installing the Binary Packages
+------------------------------
+
+The first set of dependencies we need to install in order to successfully compile |op| are the binary packages. These can be installed via appropiate package manager.
+
+.. tabs::
+
+ .. tab:: Windows (MSYS2)
+
+ #. Open ``MSYS2 MSYS`` and execute the following package manager ``pacman`` commands to update the package repository and upgrade system packages:
+
+ .. code-block::
+
+ pacman -Syuu
+
+ If the upgrade requires a restart of MSYS2, resume the upgrade by re-opening the shell and call:
+
+ .. code-block::
+
+ pacman -Suu
+
+ #. Required packages (can be specified in single command line if desired):
+
+ .. literalinclude:: _static/msys2_packages.txt
+ :language: bash
+
+ .. admonition:: Versions
+
+ | MSYS2 provides rolling release versions, so some packages might be too "up-to-date".
+ | Tested packages - ate time of writing - have been listed above as comment.
+ | If in doubt, download the package in the right version from the `MSYS2 package repository <http://repo.msys2.org/mingw/x86_64/>`_.
+ | Install with ``pacman -U <package-filename>``
+
+ #. Optional Packages
+
+ .. code-block::
+
+ pacman -S git
+ pacman -S diffutils
+ pacman -S patch
+ pacman -S dos2unix
+ pacman -S mingw-w64-x86_64-ag
+ pacman -S mingw-w64-x86_64-qt5-debug
+ pacman -S zlib-devel
+
+ .. admonition:: GIT/SSH
+
+ The |mingw_shell| does not access an already existing git installation or available SSH keys.
+ Make sure, to update/copy your configuration and credentials within the |mingw_shell| before working with git.
+
+ .. tab:: Linux (Debian Bullseye)
+
+ #. Update the package database on the system
+
+ .. code-block::
+
+ apt update
+
+ #. Upgrade existing software to latest version
+
+ .. code-block::
+
+ apt upgrade
+
+ #. Install required binary packages
+
+ .. code-block::
+
+ # for simulator
+ apt install ccache
+ apt install cmake
+ apt install doxygen
+ apt install googletest
+ apt install gcc
+ apt install g++
+ apt install graphviz
+ apt install libprotobuf-dev
+ apt install protobuf-compiler # when building osi
+ apt install qt5-default
+ apt install zlib1g-dev
+
+ # for documentation
+ sudo apt install doxygen python3 python3-pip libenchant-2-2 dvipng
+ pip3 install sphinx sphinx-rtd-theme sphinx-tabs breathe exhale sphinxcontrib-spelling
+
+ Under Linux, it is deliberate that the googletest package only installs the header files to the system,
+ but not the static and dynamic libraries. The missing libraries can be build and installed to ``/usr/lib`` via
+
+ .. code-block::
+
+ cd /usr/src/googletest
+ cmake .
+ make
+ make install
+
+
+**EndToEnd Test Framework**
+
+If the :ref:`testing_endtoend` shall be used, additional requirements have to be considered.
+
+The test framework is based on Python and some additional Python modules.
+Installation of the required modules can be accomplished using ``pip``.
+Please refer to the file ``requirements.txt`` located in ``sim/tests/endToEndTests/pyOpenPASS`` for a list of dependencies.
+
+The requirements file can be directly passed to ``pip``:
+
+.. code-block::
+
+ pip install -r requirements.txt
+
+(executed from ``sim/src/tests/endToEndTests/pyOpenPASS``)
+
+.. warning::
+ |win_only|
+ ``pip install`` will try to fetch precompiled packages by default.
+ If it is unable to locate a binary package for the current environment, packages will be compiled from source.
+ This step fails for the ``numpy`` package when being built from the MSYS2 environment.
+ Thus, it is recommended to set up a native Windows Python environment and perform the installation there.
+ To force the usage of a specific Python environment, the variable ``Python3_EXECUTABLE`` can be set to the indended Python interpreter executable during cmake configuration (see :ref:`download_and_install_openpass`).
+
+Please refer to :ref:`testing_endtoend` for more details for using the framework.
+
+
+.. _building_prerequisites:
+
+Installing the Source Packages
+------------------------------
+
+This section describes how to compile prerequisites of |op| using source packages.
+
+.. note::
+
+ If you are unfamiliar to ``CMake`` or working within a |mingw_shell|, Section :ref:`cmake` and :ref:`MSYS2 <msys2>` might give you a short introduction on these topics in the scope of building |op| itself.
+
+Location Of Installed Source Packages
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The goal of this section is to download necessary source packages and install
+them into a suitable directory. This directory will later on be copied into the |op| repository in order to resolve third party dependency.
+The following directory tree shows the folder structure, which will be created by following the recommendations of this guide.
+
+.. tabs::
+
+ .. tab:: Windows
+
+ ::
+
+ C:\OpenPASS\thirdParty
+ ├── FMILibrary
+ │ ├── include
+ │ └── lib
+ └── osi
+ ├── include
+ └── lib
+
+ In the folder structure above:
+
+ - ``C:\OpenPASS\thirdParty`` refers to a temporary directory used to built the prerequisites from source, **not** the ``simopenpass`` repository
+ - ``FMILibrary`` is the install directory of the ``Functional Mock-up Interface (FMI)`` when build from source
+ - ``osi`` is the install directory of the ``Open Simulation Interface (OSI)`` when build from source.
+
+ .. tab:: Linux
+
+ ::
+
+ ~/OpenPASS/thirdParty
+ ├── FMILibrary
+ │ ├── include
+ │ └── lib
+ └── osi
+ ├── include
+ └── lib
+
+ In the folder structure above:
+
+ - ``~/OpenPASS/thirdParty`` refers to a temporary directory used to built the prerequisites from source, **not** the ``simopenpass`` repository
+ - ``FMILibrary`` is the install directory of the ``Functional Mock-up Interface (FMI)`` when build from source
+ - ``osi`` is the install directory of the ``Open Simulation Interface (OSI)`` when build from source.
+
+On the basis of this structure, we will explain further steps.
+
+.. _building_osi:
+
+Build and Install OSI
+~~~~~~~~~~~~~~~~~~~~~
+
+As can be looked up in :ref:`Prerequisites_osi`, the core component ``World_OSI`` uses :term:`OSI` as backend storage.
+OSI itself uses ``protobuf`` to describe data structures in a platform independent way by means of `*.proto` files.
+When building OSI, these files are converted into C++ headers and sources, using the protobuf compiler ``protoc``.
+Finally, the sources are then compiled into a library.
+|Op| finally uses the library and the generated headers to interface the library.
+
+#. Open and create directory structure
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ Start |mingw_shell|
+
+ .. code-block::
+
+ cd /C/
+ mkdir -p OpenPASS/thirdParty/sources
+
+ .. tab:: Linux
+
+ Start ``Bash`` shell
+
+ .. code-block::
+
+ cd ~
+ mkdir -p OpenPASS/thirdParty/sources
+
+#. Download release 3.2.0 from https://github.com/OpenSimulationInterface/open-simulation-interface
+
+#. Extract
+
+ - for Windows to ``C:\OpenPASS\thirdParty\sources\open-simulation-interface-3.2.0``
+
+ - for Linux to ``~/OpenPASS/thirdParty/sources/open-simulation-interface-3.2.0``
+
+#. Navigate to the extracted folder
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. code-block::
+
+ cd /C/OpenPASS/thirdParty/sources/open-simulation-interface-3.2.0
+
+ .. tab:: Linux
+
+ .. code-block::
+
+ cd ~/OpenPASS/thirdParty/sources/open-simulation-interface-3.2.0
+
+#. Optional: Enable Arenas
+
+ For better performance, |op| supports protobuf Arenas allocation (https://developers.google.com/protocol-buffers/docs/reference/arenas).
+ To use this feature, OSI and |op| needs to be compiled with Arenas support.
+ See :ref:`cmake_protobuf_arenas` how this feature is enabled in |op|.
+
+ To enable Arenas support for OSI, the line ``option cc_enable_arenas = true;`` needs to be added **manually** to all OSI proto files before compilation.
+
+ This can be achieved in two ways. Either the line ``option cc_enable_arenas = true;`` gets added manually **after the second line** of each PROTO file
+
+ - for Windows in ``C:\OpenPASS\thirdParty\sources\open-simulation-interface``
+ - for Linux in ``~/OpenPASS/thirdParty/sources/open-simulation-interface``
+
+ by using a text editor or one makes use of the stream editor in the shell:
+
+ .. code-block::
+
+ find . -maxdepth 1 -name '*.proto' -exec sed -i '2i option cc_enable_arenas = true;' {} \;
+
+ .. warning::
+
+ The first line of each OSI proto file specifies the protobuf syntax used.
+ If Arenas support is added before the syntax specification, errors occur.
+
+#. Create build directory
+
+ .. code-block::
+
+ mkdir build
+ cd build
+
+#. Run Cmake
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. code-block::
+
+ cmake -G "MSYS Makefiles" \
+ -DCMAKE_BUILD_TYPE=Release \
+ -DCMAKE_INSTALL_PREFIX=C:/OpenPASS/thirdParty/osi \
+ ..
+
+ .. tab:: Linux
+
+ .. code-block::
+
+ cmake -DCMAKE_BUILD_TYPE=Release \
+ -DCMAKE_INSTALL_PREFIX=~/OpenPASS/thirdParty/osi \
+ ..
+
+#. Compile
+
+ .. code-block::
+
+ make -j3
+
+ .. warning::
+
+ If ``protobuf`` compiler complains, do
+
+ .. code-block::
+
+ protoc --version
+
+ and check if correct protobuf version is used.
+
+#. Install
+
+ .. code-block::
+
+ make install
+
+ .. admonition:: Documentation
+
+ The OSI class documentation is part of the source code and can be compiled using Doxygen.
+ Instructions are located in the OSI ``Readme.md``. A pre-compiled version is located `here <https://opensimulationinterface.github.io/open-simulation-interface/index.html>`_.
+
+ So far, the documentation does not include the extensions from the openpass-trafficAgents branch.
+
+
+.. _building_fmil:
+
+Build and Install FMIL
+~~~~~~~~~~~~~~~~~~~~~~
+
+#. Download release 2.0.3 from https://github.com/modelon-community/fmi-library
+
+#. Extract
+
+ - for Windows to ``C:\OpenPASS\thirdParty\sources\fmi-library-2.0.3``
+
+ - for Linux to ``~/OpenPASS/thirdParty/sources/fmi-library-2.0.3``
+
+#. Navigate to the extracted folder
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ Start |mingw_shell|
+
+ .. code-block::
+
+ cd /C/OpenPASS/thirdParty/sources/fmi-library-2.0.3
+
+ .. tab:: Linux
+
+ Start ``Bash`` shell
+
+ .. code-block::
+
+ cd ~/OpenPASS/thirdParty/sources/fmi-library-2.0.3
+
+#. Create build directory
+
+ .. code-block::
+
+ mkdir build
+ cd build
+
+#. Run Cmake
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. code-block::
+
+ cmake -G "MSYS Makefiles" \
+ -DFMILIB_INSTALL_PREFIX=C:/OpenPASS/thirdParty/FMILibrary \
+ -DCMAKE_BUILD_TYPE=Release \
+ -DFMILIB_BUILD_STATIC_LIB=OFF \
+ -DFMILIB_BUILD_SHARED_LIB=ON \
+ ..
+
+ .. tab:: Linux
+
+ .. code-block::
+
+ cmake -DFMILIB_INSTALL_PREFIX=~/OpenPASS/thirdParty/FMILibrary \
+ -DCMAKE_BUILD_TYPE=Release \
+ -DFMILIB_BUILD_STATIC_LIB=OFF \
+ -DFMILIB_BUILD_SHARED_LIB=ON \
+ ..
+
+#. Leave build directory
+
+ .. code-block::
+
+ cd ..
+
+#. Apply Patch
+
+ As FMIL and the internally used `FMU Compliance Checker <https://github.com/modelica-tools/FMUComplianceChecker>`_ has issues with loading and private entry points, the following patch needs to be applied:
+
+ - :download:`Windows/Linux Patch </_static/resources/fmil/fmi-library-2.0.3-fixes.patch>`
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. code-block::
+
+ patch -l -p1 "<path/to>/fmi-library-2.0.3-fixes.patch"
+
+ .. tab:: Linux
+
+ .. code-block::
+
+ dos2unix src/Import/src/FMI1/fmi1_import_capi.c src/Import/src/FMI2/fmi2_import_capi.c src/Util/include/JM/jm_portability.h
+ patch -l -p1 "<path/to>/fmi-library-2.0.3-fixes.patch"
+
+#. Enter build directory
+
+ .. code-block::
+
+ cd build
+
+#. Compile
+
+ .. code-block::
+
+ make -j3
+
+#. Install
+
+ .. code-block::
+
+ make install
+
+
diff --git a/content/html/_sources/installation_guide/20_sim_installation_guide.rst.txt b/content/html/_sources/installation_guide/20_sim_installation_guide.rst.txt
deleted file mode 100644
index f1481e2..0000000
--- a/content/html/_sources/installation_guide/20_sim_installation_guide.rst.txt
+++ /dev/null
@@ -1,38 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _sim_install_guide:
-
-Simulation Installation Guide
-=============================
-
-This guide summarizes all installation related topics, necessary to setup and build the |op| simulation core (|release|).
-
-.. toctree::
- :caption: Meta
- :maxdepth: 1
-
- sim_installation_guide/meta/sphinx
-
-.. toctree::
- :caption: Installation
- :glob:
- :maxdepth: 1
-
- sim_installation_guide/installation/*
-
-.. toctree::
- :caption: IDEs
- :glob:
- :maxdepth: 1
-
- sim_installation_guide/ides/*
-
diff --git a/content/html/_sources/installation_guide/21_pcm_installation_guide.rst.txt b/content/html/_sources/installation_guide/21_pcm_installation_guide.rst.txt
deleted file mode 100644
index 201a7c3..0000000
--- a/content/html/_sources/installation_guide/21_pcm_installation_guide.rst.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-PCM Installation Guide
-=============================
-
-.. todo:: Add PCM installation guide.
diff --git a/content/html/_sources/installation_guide/30_install_openpass.rst.txt b/content/html/_sources/installation_guide/30_install_openpass.rst.txt
new file mode 100644
index 0000000..df75ccd
--- /dev/null
+++ b/content/html/_sources/installation_guide/30_install_openpass.rst.txt
@@ -0,0 +1,257 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _download_and_install_openpass:
+
+Installing OpenPASS
+===================
+
+This section describes how compile and run |op|. Please make sure that all prerequisites have been properly installed according to section :ref:`Prerequisites`.
+If you have strictly followed the instructions, the installed source packages should be located on your machine under
+``C:\OpenPASS\thirdParty`` for **Windows** and ``~/OpenPASS/thirdParty`` for **Linux**. If there is a path deviation,
+the following commands must be adjusted.
+
+To keep the installation process of |op| as simple as possible, we again recommend a specific folder structure.
+If you have strictly followed and will follow the recommended paths of this guide, no command modifications are necessary.
+
+.. tabs::
+
+ .. tab:: Notes for Windows
+
+ - Recommended checkout path of |op| repository: ``C:\simopenpass``
+ - Recommended dependendy directory within the |op| repository: ``C:\simopenpass\deps\thirdParty``
+ - Recommended installation directory of |op|: ``C:\OpenPASS\bin\core``
+
+ .. tab:: Notes for Linux
+
+ - Recommended checkout path of |op| repository: ``~/simopenpass``
+ - Recommended dependendy directory within the |op| repository: ``~/simopenpass/deps/thirdParty``
+ - Recommended installation directory of |op|: ``/usr/local/OpenPASS/bin/core``
+
+The above directory structure will be created by following the instructions of this guide.
+
+#. Clone |Op| repository
+
+ As described above, the checkout path of the repository is assumed to be the default ``simopenpass``.
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ Start |mingw_shell|
+
+ .. code-block::
+
+ cd /C/
+ git clone https://gitlab.eclipse.org/eclipse/simopenpass/simopenpass.git
+
+ .. note::
+
+ As stated in :ref:`Building_under_windows`, the windows programming tools suffer from a `path length restriction`.
+ This error manifests as strange **file not found** compile errors.
+ It is therefore recommended to use a short path for source code checkout, e.g. a drive letter.
+ This can also be done by the windows command `subst <https://docs.microsoft.com/en-us/windows-server/administration/windows-commands/subst>`_.
+
+ .. tab:: Linux
+
+ Start ``Bash`` shell
+
+ .. code-block::
+
+ cd ~
+ git clone https://gitlab.eclipse.org/eclipse/simopenpass/simopenpass.git
+
+#. Navigate into repository and checkout main branch
+
+ .. code-block::
+
+ cd simopenpass
+ git checkout main
+
+#. Create directory structure
+
+ .. code-block::
+
+ mkdir -p deps/thirdParty
+
+#. Navigate into directory where installed prerequisites are located
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. code-block::
+
+ cd /C/OpenPASS/thirdParty
+
+ .. tab:: Linux
+
+ .. code-block::
+
+ cd ~/OpenPASS/thirdParty
+
+#. Copy prerequisites into repository (c.f. :ref:`Prerequisites`)
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. code-block::
+
+ cp -r osi /C/simopenpass/deps/thirdParty
+ cp -r FMILibrary /C/simopenpass/deps/thirdParty
+
+ .. tab:: Linux
+
+ .. code-block::
+
+ cp -r osi ~/simopenpass/deps/thirdParty
+ cp -r FMILibrary ~/simopenpass/deps/thirdParty
+
+ .. _ref_prerequisites:
+
+ Once prerequisites are in place, all third party dependencies within ``simopenpass`` can be resolved by ``CMake``.
+ For ``CMake`` builds, each installed prerequisite, which is located in its own subdirectory under
+
+ - ``C:\simopenpass\deps\thirdParty`` for Windows and
+ - ``~/simopenpass/deps/thirdParty`` for Linux,
+
+ can be referenced by its path.
+ The reference is made via the :ref:`CMAKE_PREFIX_PATH` environmental variable, which holds a list of directories specifying the installed prerequisite.
+ This will be explained in more detail in the following.
+
+#. Navigate back into repository
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. code-block::
+
+ cd /C/simopenpass
+
+ .. tab:: Linux
+
+ .. code-block::
+
+ cd ~/simopenpass
+
+#. Create build directory and navigate into it
+
+ .. code-block::
+
+ mkdir build
+ cd build
+
+#. Prepare build
+
+ |Op| links against shared libraries, which are located in the paths specified by ``CMAKE_PREFIX_PATH``.
+ To be able to install |Op| with resolved dependencies, all libraries found under the paths have to be copied right next to the executable during the installation step.
+ This is done by setting ``INSTALL_EXTRA_RUNTIME_DEPS=ON``. If you have followed the instructions strictly, no changes are necessary.
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. code-block::
+
+ cmake -G "MSYS Makefiles" \
+ -D CMAKE_PREFIX_PATH="C:/msys64/mingw64/bin;C:/simopenpass/deps/thirdParty/FMILibrary;C:/simopenpass/deps/thirdParty/osi" \
+ -D CMAKE_INSTALL_PREFIX=C:/OpenPASS/bin/core \
+ -D CMAKE_BUILD_TYPE=Release \
+ -D USE_CCACHE=ON \
+ -D WITH_DEBUG_POSTFIX=OFF \
+ -D OPENPASS_ADJUST_OUTPUT=OFF \
+ -D INSTALL_EXTRA_RUNTIME_DEPS=ON \
+ -D CMAKE_C_COMPILER=gcc \
+ -D CMAKE_CXX_COMPILER=g++ \
+ ..
+
+ .. note:: Even though it is recommended, you do not have to copy :term:`MinGW` libraries next to the executable. Providing the libraries can also be done in the following ways:
+
+ - either |op| gets **only** executed exclusively from the |mingw_shell|, then all necessary :term:`MinGW` libraries get linked automatically by the shell
+ - or one can add ``C:\msys64\mingw64\bin`` permanently to the *Windows Environment Variable* ``Path``
+ - or temporarily set ``Path`` prior to the execution, e.g. in a wrapper:
+
+ .. code-block:: batch
+
+ # your_program.cmd
+ Path=C:\msys64\mingw64\bin;%Path% # set Path
+ your_program.exe # execute
+
+ .. tab:: Linux
+
+ .. code-block::
+
+ cmake -D CMAKE_PREFIX_PATH="$HOME/simopenpass/deps/thirdParty/FMILibrary;$HOME/simopenpass/deps/thirdParty/osi" \
+ -D CMAKE_INSTALL_PREFIX=/usr/local/OpenPASS/bin/core \
+ -D CMAKE_BUILD_TYPE=Release \
+ -D USE_CCACHE=ON \
+ -D WITH_DEBUG_POSTFIX=OFF \
+ -D OPENPASS_ADJUST_OUTPUT=OFF \
+ -D INSTALL_EXTRA_RUNTIME_DEPS=ON \
+ -D CMAKE_C_COMPILER=gcc-9 \
+ -D CMAKE_CXX_COMPILER=g++-9 \
+ ..
+
+ .. note:: If you need to adjust paths and options based on your system and needs, don't forget to escape the semicolon ``;`` (see :ref:`Cmake_prefix_path`).
+ For a build that goes beyond the default settings, see :ref:`Cmake` for more available variables and options that can be set.
+
+
+#. Optional: Build and execute unit tests
+
+ Starting from ``simopenpass/build``:
+
+ .. code-block::
+
+ make test ARGS="--output-on-failure -j3"
+
+ .. note::
+
+ ARGS is optional, but recommended.
+ Adjust parallel build flag ``-j3`` based on your system.
+
+#. Build documentation
+
+ Starting from ``simopenpass/build``:
+
+ .. code-block::
+
+ make doc
+
+ .. note:: Currently the documentation must be built before |op| can be successfully installed if the CMake variable `WITH_DOC=ON` (default).
+
+#. Build simulation core
+
+ Starting from ``simopenpass/build``:
+
+ .. code-block::
+
+ make -j3 install
+
+ .. note:: Again, adjust parallel build flag ``-j3`` based on your system.
+
+#. Fix installation (we're working on that...)
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. code-block::
+
+ cp /C/OpenPASS/bin/core/bin/* /C/OpenPASS/bin/core
+
+ .. tab:: Linux
+
+ .. code-block::
+
+ cp /usr/local/OpenPASS/bin/core/bin/* /usr/local/OpenPASS/bin/core
diff --git a/content/html/_sources/installation_guide/50_further_guidance.rst.txt b/content/html/_sources/installation_guide/50_further_guidance.rst.txt
new file mode 100644
index 0000000..ee8db59
--- /dev/null
+++ b/content/html/_sources/installation_guide/50_further_guidance.rst.txt
@@ -0,0 +1,22 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+Further Guidance
+================
+
+.. toctree::
+ :caption: IDEs
+ :glob:
+ :maxdepth: 1
+
+ further_guidance/*
+
+
diff --git a/content/html/_sources/installation_guide/60_conan.rst.txt b/content/html/_sources/installation_guide/60_conan.rst.txt
new file mode 100644
index 0000000..124570f
--- /dev/null
+++ b/content/html/_sources/installation_guide/60_conan.rst.txt
@@ -0,0 +1,188 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 ITK Engineering GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _building_with_conan:
+
+Building with Conan
+===================
+
+.. image:: https://conan.io/img/logo-conan.svg
+
+General
+-------
+
+Conan is an open source, decentralized and multi-platform package manager to create and share native binaries.
+
+To learn more about Conan itself you can visit `Conan <https://conan.io/>`_.
+
+Conan is used in the |op| project to create and manage the binaries of the used ThirdParty libraries.
+
+Additional Prerequisites
+--------------------------
+
+To be able to work with Conan it´s necessary to add additional packages.
+
+.. tabs::
+
+ .. tab:: Windows (MSYS2)
+
+ .. code-block:: bash
+
+ pip install conan
+
+ .. tab:: Linux (Debian Bullseye)
+
+ .. code-block:: bash
+
+ apt install conan
+
+
+Export Recipes
+--------------
+
+.. note::
+
+ A *recipe* is python file, which is used by conan to build and create a package.
+ In this file there are several hooks available, which can be used for several tasks.
+ E.g. Retrieving the source files, building from source, configuring dependencies, packaging, etc.
+ Visit `Conan <https://conan.io/>`_. for detailed information about *recipes*.
+
+
+To make Conan aware and to use the custom recipes for the ThirdParty libraries, these recipes have to be exported to the *local cache* of Conan.
+This can be done in different ways.
+
+Conan Export
+^^^^^^^^^^^^
+
+.. code-block:: bash
+
+ cd <path to conanfile.py of recipe>
+ conan export . <optional user>/<optional channel>
+
+The optional user and channel flags can be used to export a recipe while it´s still in development.
+In that case there could be several different versions and their corresponding binaries of the same library available at the same time.
+The *local cache* could then show the following packages.
+E.g.
+
+.. code-block:: bash
+
+ packagename/3.2.0
+ packagename/3.2.0@openpassWG/stable
+ packagename/3.3.0@myUserName/testing
+
+.. note::
+
+ At least this step has to be done in prior before any ThirdParty library can be installed by Conan.
+ Every upcoming step is optional, but can be useful while developing or debugging.
+ Also with these steps it´s possible to install ThirdParty libraries separately.
+
+Conan Install
+^^^^^^^^^^^^^
+
+Conan is now able to differentiate different version and the user can now install exactly the version he wishes to.
+
+.. code-block:: bash
+
+ conan install <package_name>
+
+This command has a look into the *local cache* for the recipe and the binaries of the package and installs them into the *local cache*.
+If no binaries where found an error is thrown.
+
+.. note::
+
+ To make conan also build the package the command can be appended with the following argument: ``--build=missing``.
+
+Conan Create
+^^^^^^^^^^^^
+
+Both of the previous commands can be combined with the ``create``` command. What it basically does is calling ``export`` and ``install`` after another.
+
+.. code-block:: bash
+
+ cd <path to conanfile.py of recipe>
+ conan create . <optional user>/<optional channel>
+
+At this step the binaries of this package are now available in the *local cache*.
+
+.. note::
+
+ There are several additional commands, arguments and fields for these commands available.
+ Please see `Conan Docs <https://docs.conan.io/en/latest/>`_ for additional information.
+
+Build |op|
+----------
+
+If you followed the previous steps and export all dependencies and |op| recipes to Conans *local cache*, then you can go on with the next steps.
+If not then at least the ``export`` should be done.
+Else Conan is not able to know how to build the dependencies and |op|.
+
+|op| can be build using a ``conanfile.txt``.
+It holds every Information which is needed to build and install |op|.
+
+The following file shows an example which can be used.
+This example is also available in the ``conan`` folder in the ``simopenpass`` repository.
+
+.. code-block::
+
+ [requires]
+ openpass/0.8
+
+ [generators]
+ cmake
+
+ [imports]
+ . , * -> C:/openpass @
+
+The ``requires`` field describes what package with what version shall be installed.
+It´s also possible to add more packages here or change the version.
+
+The ``generator`` field is used to add different generators to the process.
+In this example the ``cmake`` generator would generate cmake files, which describe where to find the |op| in the *local cache*.
+There are also other possibilities like a ``cmake_find_package`` generator, which generates *cmake* *FindPackage* files.
+
+At this point |op| only exists in the *local cache* of Conan.
+With the ``imports`` field it´s possible to specify where and how the binaries shall be copied from the *local cache* to the *user space*.
+The example follows the following pattern:
+
+ <source>, <pattern> -> <destination>
+
+.. note::
+
+ It is possible to add several lines for more specific copying operations.
+ Also there are more field available than this simple example shows.
+ See `Conan Docs <https://docs.conan.io/en/latest/>`_ for additional information.
+
+Conan can simply install |op| with the following command.
+If the dependencies or |op| were not build in any previous step, the binaries will not be available in the *local cache* of Conan.
+Conan can build them by adding ``--build=missing`` to the following command.
+
+.. code-block:: bash
+
+ conan install <path to conanfile.txt>
+
+
+Build only ThirdParties
+-----------------------
+
+The ThirdParty libraries can be build and installed the same way.
+
+.. code-block::
+
+ [requires]
+ OSI/3.2.0
+ FMILibrary/2.0.3
+
+ [generators]
+ cmake_find_package
+ cmake_paths
+
+ [imports]
+ . , * -> C:/openpass/ThirdParty @
diff --git a/content/html/_sources/installation_guide/sim_installation_guide/installation/40_cmake.rst.txt b/content/html/_sources/installation_guide/further_guidance/10_cmake.rst.txt
similarity index 64%
rename from content/html/_sources/installation_guide/sim_installation_guide/installation/40_cmake.rst.txt
rename to content/html/_sources/installation_guide/further_guidance/10_cmake.rst.txt
index 97b5352..2ee8f0f 100644
--- a/content/html/_sources/installation_guide/sim_installation_guide/installation/40_cmake.rst.txt
+++ b/content/html/_sources/installation_guide/further_guidance/10_cmake.rst.txt
@@ -1,296 +1,301 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _cmake:
-
-Cmake Build Environment
-=======================
-
-|Op| uses Cmake as default cross-platform build environment.
-This section describes the available variables and options.
-If available, recommended options are shown in bold.
-
-The first part of this section approaches Cmake from the *command line perspective*.
-Adjustments for the corresponding IDEs will follow shortly.
-
-The result of a proper Cmake call is a Makefile, which acts as base for the actual build using ``make`` or, under Windows, ``mingw32-make`` (c.f. :ref:`msys2`).
-Hence, the second part of this section describes best practices around the make commands.
-
-.. admonition:: See also
-
- Cmake Documentation: https://cmake.org/cmake/help/latest/index.html
-
-Generator (Windows only)
-------------------------
-
-To generate MinGW compatible makefiles use ``-G "MinGW Makefiles"`` (c.f. :ref:`msys2`).
-
-Cmake Variables
----------------
-
-.. _cmake_prefix_path:
-
-CMAKE_PREFIX_PATH
-~~~~~~~~~~~~~~~~~
-
-This command makes the prerequisite available to |op| as semicolon-separated list of directories, specifying installation prefixes to be searched by cmake.
-Please refer to :ref:`Prerequisites` for the list of mandatory packages and libraries.
-Cmake will issue an error, if one prerequisite is missing.
-
-Generally, cmake recognizes installed libraries (e.g. googletest) on its own.
-By setting an explicit ``CMAKE_PREFIX_PATH`` for a library, it is possible to override the system libraries.
-Use this, when an exact library version, or a customized library shall be used instead.
-
-.. note::
-
- In the following example, non-standard libraries are assumed to be in the folder ``deps/thirdParty``.
-
-**Example** (system libraries **not** set):
-
-.. tabs::
-
- .. tab:: Windows
-
- .. code-block:: bash
-
- cmake -G "MinGW Makefiles"
- -D CMAKE_PREFIX_PATH="\
- /mingw64/bin;\
- $PWD/../deps/thirdParty/win64/FMILibrary;\
- $PWD/../deps/thirdParty/win64/osi;\
- -D <other variables>\
- ..
-
- .. tab:: Linux
-
- .. code-block:: bash
-
- cmake -D CMAKE_PREFIX_PATH=\
- $PWD/../deps/thirdParty/linux64/FMILibrary\;\
- $PWD/../deps/thirdParty/linux64/osi\;\
- -D <other variables> \
- ..
-
- .. warning:: The semicolon ``;`` needs to be escaped (``\;``) unless the string is quoted.
-
-.. note:: Please also read through ref:`openpass_variables` for further useful hints, e.g. why explicitly setting the MinGW path might be a necessary in some situations.
-
-CMAKE_INSTALL_PREFIX
-~~~~~~~~~~~~~~~~~~~~
-
-- Install directory used by install, when invoking ``make install``
-- Recommendation: ``/OpenPASS/bin/core`` (Linux) | ``C:/OpenPASS/bin/core`` (Windows)
-
-CMAKE_WITH_DEBUG_POSTIX
-~~~~~~~~~~~~~~~~~~~~~~~
-
-- Used only in conjunction with *Visual Studio Debug Builds* (MSVC), as it distinguishes release/debug DLLs by a postfix ``d``.
-- Options: **OFF** | ON
-
-CMAKE_BUILD_TYPE
-~~~~~~~~~~~~~~~~
-
-- Specifies the build type on single-configuration generators.
-- Typical: Release | Debug
-- See: https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html
-
-.. note::
-
- IDEs, as Qt Creator, might set this variable base on the current build type on their own.
-
-CMAKE_C_COMPILER
-~~~~~~~~~~~~~~~~
-
-- Options: **gcc-10** | gcc-9 | gcc-8
-- See: https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html
-
-.. note::
-
- IDEs, as Qt Creator, might set this variable via *kit* settings.
-
-CMAKE_CXX_COMPILER
-~~~~~~~~~~~~~~~~~~
-
-- Options: **g++-10** | g++-9 | g++-8
-- See: https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html
-
-.. note::
-
- IDEs, as Qt Creator, might set this variable via *kit* settings.
-
-CMAKE_OBJECT_PATH_MAX
-~~~~~~~~~~~~~~~~~~~~~
-
-- Under windows, errors from too long paths could be prevented by setting this value to 255 (maximum).
-- See: https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html
-
-.. _cmake_openpass_variables:
-
-OpenPASS Variables
-------------------
-
-USE_CCACHE
-~~~~~~~~~~
-
-- Activates ccache (see :ref:`prerequisites_ccache`)
-- Options: **ON** | OFF
-
-WITH_SIMCORE
-~~~~~~~~~~~~
-
-- Build OSI based scenario simulation, also know as openPASS core (slave).
-- Options: OFF | **ON**
-
-WITH_DOC
-~~~~~~~~
-
-- Build sphinx based documentation
-- Options: OFF | **ON**
-
-WITH_API_DOC
-~~~~~~~~~~~~
-
-- Build sphinx based developer documentation
-- Options: **OFF** | ON
-
-.. note:: Automatically activates ``WITH_DOC`` if ON
-
-.. warning:: Building the API doc takes pretty long.
-
-WITH_COVERAGE
-~~~~~~~~~~~~~
-
-- Add test targets for code coverage analysis (lcov) and HTML report generation (genhtml)
-- Options: **OFF** | ON
-- Use ``COVERAGE_EXCLUDE`` to remove folders from the analysis
-
-.. note::
-
- The generated files are placed next to the test executable.
- Each test will be built without optimization, which will increase the testing run-time.
-
-WITH_GUI
-~~~~~~~~
-
-- Activates the additional build of the GUI provided with |Op| (open source).
-- Options: **OFF** | ON
-
-.. note::
-
- Please refer to :ref:`gui_user_guide` for information on the GUI.
-
-WITH_TESTS
-~~~~~~~~~~
-
-- Build unit tests
-- Options: OFF | **ON**
-
-WITH_MINGW_BOOST_1_72_FIX
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
-- Options: **OFF** | ON
-- This enables a fix for detection within the MinGW environment, necessary when using the (for compatibility reasons supported) boost version 1.72.
-- See: https://github.com/boostorg/boost_install/issues/33.
-
-OPENPASS_ADJUST_OUTPUT
-~~~~~~~~~~~~~~~~~~~~~~
-
-- Adjusts if builds are executed in the (Cmake default) folder ``build`` or directly in the specified install directory.
- Latter mimics the former qmake behavior let you skip the call ``make install``.
-- Options: **OFF** | ON
-
-.. warning::
-
- When skipping ``make install``, dependencies are not copied into the output folder, which could cause crashes due to missing or outdated libraries.
-
-.. _cmake_protobuf_arenas:
-
-WITH_EXTENDED_OSI
-~~~~~~~~~~~~~~~~~
-
-- When set, assumes that extended version of OSI is available, by enabling the ``USE_EXTENDED_OSI`` preprocessor variable.
-- This variable can be used to enable e.g. customized OSI features:
-
- .. code-block:: c++
-
- #ifdef USE_EXTENDED OSI
- #include "osi3/osi_<custom_message>.pb.h"
- #endif
-
-- Options: **OFF** | ON
-
-WITH_PROTOBUF_ARENA
-~~~~~~~~~~~~~~~~~~~
-
-- | *Arena allocation is a C++-only feature that helps you optimize your memory usage and improve performance when working with protocol buffers.*
- | (from https://developers.google.com/protocol-buffers/docs/reference/arenas)
-- Options: **ON** | OFF
-
-.. note::
-
- This feature is only available, if protobuf related libraries are also compiled with arenas (see :ref:`building_osi`).
- Fortunately, the implementation falls back to regular allocation if not, which simply results in less performance.
-
-INSTALL_SYSTEM_RUNTIME_DEPS
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-- Copy detected system runtime dependencies to install directory (i.e. MinGW system libraries)
-- Options: ON | **OFF**
-
-.. warning::
-
- Under windows, automatic resolution might fail if other MinGW instances are installed.
- As several programs use MinGW under the hood, it is recommended to set the used MinGW path in the CMAKE_PREFIX_PATH explicitly:
-
- .. code-block:: bash
-
- CMAKE_PREFIX_PATH = mingw64/bin;\...
-
-INSTALL_EXTRA_RUNTIME_DEPS
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-- Copy detected third party runtime dependencies to install directory (i.e. required shared libraries found in specified CMAKE_PREFIX_PATH)
-- Options: ON | **OFF**
-
-Make Targets/Commands
----------------------
-
-|Op| defines build targets by major modules or components, such as ``OpenPassSlave`` or ``Algorithm_FmuWrapper``.
-After calling Cmake, simply build |op| by calling ``make``.
-
-.. admonition:: See also
-
- https://www.tutorialspoint.com/unix_commands/make.htm
-
-Build and Install
-~~~~~~~~~~~~~~~~~
-
-- ``make``
-
-- ``make install``
-
- .. warning:
-
- - Right now, there is still an issue with an additinal ``bin`` folder.
- After installing, the content of the `./bin` folder needs to be copied into `.`.
-
- - Make install seems to have troubles on some systems when copying the dependencies.
- Check if the libraries of e.g. OSI are copied into the execution directory of the core.
-
- - MinGW system libraries are not a dependency visible to make (see :ref:`runmingwexe`).
-
-- ``make <target>``: Build a single target
-
-Executing Tests
-~~~~~~~~~~~~~~~
-
-- All tests: ``make test ARGS="--output-on-failure -j3"``
-- Single test: ``make test OpenPassSlave_Tests ARGS="--output-on-failure -j3"``
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _cmake:
+
+CMake Variables and Options
+===========================
+
+|Op| uses CMake as default cross-platform build environment.
+CMake varibles describe configuration settings, which can be overriden by the user.
+To override any build configuration, the CMake variables have to be provided when CMake gets run.
+
+If available, recommended options are shown in **bold**.
+
+The following guide is structered as follows: The first part describes the available variables and options.
+There are standard CMake variables which are marked with the prefix ``CMAKE_`` and other defined variables
+used internally to further specify the build of |op|. As the result of a proper CMake call is a Makefile,
+which then acts as base for the actual build using ``make``, the second part describes best practices around the make commands using ``make``.
+
+Note, this guide approaches CMake from the *command line perspective*.
+Adjustments for VSCode and QtCreator can be found under :ref:`vscode` and :ref:`qtcreator`.
+
+.. admonition:: See also
+
+ CMake Documentation: https://cmake.org/cmake/help/latest/index.html
+
+CMake Generator
+---------------
+
+This is only important for **Windows**.
+To generate MSYS compatible makefiles use ``-G "MSYS Makefiles"`` (c.f. :ref:`MSYS2 <msys2>`).
+
+.. _cmake_prefix_path:
+
+CMAKE_PREFIX_PATH
+-----------------
+
+This variable makes the prerequisites available to |op| as semicolon-separated list of directories,
+specifying installation prefixes to be searched by cmake.
+Please refer to :ref:`Prerequisites` for the list of mandatory packages and libraries.
+CMake will issue an error, if one prerequisite is missing.
+
+Generally, cmake recognizes installed libraries (e.g. googletest) on its own.
+By setting an explicit ``CMAKE_PREFIX_PATH`` for a library, it is possible to override the system libraries.
+Use this, when an exact library version, or a customized library shall be used.
+
+.. note::
+
+ In the following example, non-standard libraries are assumed to be in the folder ``deps/thirdParty``.
+
+**Example** (system libraries **not** set):
+
+.. tabs::
+
+ .. tab:: Windows
+
+ .. code-block:: bash
+
+ cmake -G "MSYS Makefiles"
+ -D CMAKE_PREFIX_PATH="\
+ /mingw64/bin;\
+ $PWD/../deps/thirdParty/win64/FMILibrary;\
+ $PWD/../deps/thirdParty/win64/osi;\
+ $PWD/../deps/thirdParty/win64/minizip;\
+ -D <other variables>\
+ ..
+
+ .. tab:: Linux
+
+ .. code-block:: bash
+
+ cmake -D CMAKE_PREFIX_PATH=\
+ $PWD/../deps/thirdParty/linux64/FMILibrary\;\
+ $PWD/../deps/thirdParty/linux64/osi\;\
+ $PWD/../deps/thirdParty/linux64/minizip\;\
+ -D <other variables> \
+ ..
+
+ .. warning:: The semicolon ``;`` needs to be escaped (``\;``) unless the string is quoted.
+
+.. note:: Please also read through :ref:`cmake_openpass_variables` for further useful hints, e.g. why explicitly setting the MinGW path might be a necessary in some situations.
+
+Installation directory
+
+CMAKE_INSTALL_PREFIX
+--------------------
+
+- Install directory used by install, when invoking ``make install``
+- Recommendation: ``/OpenPASS/bin/core`` (Linux) | ``C:/OpenPASS/bin/core`` (Windows)
+
+CMAKE_WITH_DEBUG_POSTIX
+-----------------------
+
+- Used only in conjunction with *Visual Studio Debug Builds* (MSVC), as it distinguishes release/debug DLLs by a postfix ``d``.
+- Options: **OFF** | ON
+
+CMAKE_BUILD_TYPE
+----------------
+
+- Specifies the build type on single-configuration generators.
+- Typical: Release | Debug
+- See: https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html
+
+.. note::
+
+ IDEs, as Qt Creator, might set this variable base on the current build type on their own.
+
+CMAKE_C_COMPILER
+----------------
+
+- Options: **gcc-10** | gcc-9 | gcc-8
+- See: https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html
+
+.. note::
+
+ IDEs, as Qt Creator, might set this variable via *kit* settings.
+
+CMAKE_CXX_COMPILER
+------------------
+
+- Options: **g++-10** | g++-9 | g++-8
+- See: https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html
+
+.. note::
+
+ IDEs, as Qt Creator, might set this variable via *kit* settings.
+
+CMAKE_OBJECT_PATH_MAX
+---------------------
+
+- Under windows, errors from too long paths could be prevented by setting this value to 255 (maximum).
+- See: https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html
+
+.. _cmake_openpass_variables:
+
+USE_CCACHE
+----------
+
+- Activates ccache (see :ref:`prerequisites_ccache`)
+- Options: **ON** | OFF
+
+WITH_SIMCORE
+------------
+
+- Build OSI based scenario simulation, also know as openPASS simulation core (opSimulation).
+- Options: OFF | **ON**
+
+WITH_DOC
+--------
+
+- Build sphinx based documentation
+- Options: OFF | **ON**
+
+WITH_API_DOC
+------------
+
+- Build sphinx based developer documentation
+- Options: **OFF** | ON
+
+.. note:: Automatically activates ``WITH_DOC`` if ON
+
+.. warning:: Building the API doc takes pretty long.
+
+WITH_COVERAGE
+-------------
+
+- Add test targets for code coverage analysis (lcov) and HTML report generation (genhtml)
+- Options: **OFF** | ON
+- Use ``COVERAGE_EXCLUDE`` to remove folders from the analysis
+
+.. note::
+
+ The generated files are placed next to the test executable.
+ Each test will be built without optimization, which will increase the testing run-time.
+
+WITH_GUI
+--------
+
+- Activates the additional build of the GUI provided with |Op| (open source).
+- Options: **OFF** | ON
+
+.. note::
+
+ Please refer to :ref:`gui_user_guide` for information on the GUI.
+
+WITH_TESTS
+----------
+
+- Build unit tests
+- Options: OFF | **ON**
+
+WITH_ENDTOEND_TESTS
+-------------------
+
+- Enables execution of end to end tests using :ref:`testing_endtoend`.
+- Tests can be ran by executing ``make install && make pyOpenPASS``
+- Options: **OFF** | ON
+
+OPENPASS_ADJUST_OUTPUT
+----------------------
+
+- Adjusts if builds are executed in the (CMake default) folder ``build`` or directly in the specified install directory.
+ Latter mimics the former qmake behavior let you skip the call ``make install``.
+- Options: **OFF** | ON
+
+.. warning::
+
+ When skipping ``make install``, dependencies are not copied into the output folder, which could cause crashes due to missing or outdated libraries.
+
+.. _cmake_protobuf_arenas:
+
+WITH_EXTENDED_OSI
+-----------------
+
+- When set, assumes that extended version of OSI is available, by enabling the ``USE_EXTENDED_OSI`` preprocessor variable.
+- This variable can be used to enable e.g. customized OSI features:
+
+ .. code-block:: c++
+
+ #ifdef USE_EXTENDED OSI
+ #include "osi3/osi_<custom_message>.pb.h"
+ #endif
+
+- Options: **OFF** | ON
+
+WITH_PROTOBUF_ARENA
+-------------------
+
+- | *Arena allocation is a C++-only feature that helps you optimize your memory usage and improve performance when working with protocol buffers.*
+ | (from https://developers.google.com/protocol-buffers/docs/reference/arenas)
+- Options: **ON** | OFF
+
+.. note::
+
+ This feature is only available, if protobuf related libraries are also compiled with arenas (see :ref:`building_osi`).
+ Fortunately, the implementation falls back to regular allocation if not, which simply results in less performance.
+
+INSTALL_SYSTEM_RUNTIME_DEPS
+---------------------------
+
+- during installation step, this configuration copies detected system runtime dependencies to install directory (i.e. MinGW system libraries)
+- Options: ON | **OFF**
+
+.. warning::
+
+ Under windows, automatic resolution might fail if other MinGW instances are installed.
+ As several programs use MinGW under the hood, it is recommended to set the used MinGW path in the CMAKE_PREFIX_PATH explicitly:
+
+ .. code-block:: bash
+
+ CMAKE_PREFIX_PATH = mingw64/bin;\...
+
+INSTALL_EXTRA_RUNTIME_DEPS
+--------------------------
+
+- during installation step, this configuration copies detected runtime dependencies (i.e. required shared libraries) specified in `CMAKE_PREFIX_PATH` to install directory
+- Options: ON | **OFF**
+
+Make Targets/Commands
+---------------------
+
+|Op| defines build targets by major modules or components, such as ``opSimulation`` or ``Algorithm_FmuWrapper``.
+After calling CMake, simply build |op| by calling ``make``.
+
+.. admonition:: See also
+
+ https://www.tutorialspoint.com/unix_commands/make.htm
+
+Build and Install
+~~~~~~~~~~~~~~~~~
+
+- ``make``
+
+- ``make install``
+
+ .. warning:
+
+ - Right now, there is still an issue with an additinal ``bin`` folder.
+ After installing, the content of the `./bin` folder needs to be copied into `.`.
+
+ - Make install seems to have troubles on some systems when copying the dependencies.
+ Check if the libraries of e.g. OSI are copied into the execution directory of the core.
+
+ - MinGW system libraries are not a dependency visible to make.
+
+- ``make <target>``: Build a single target
+
+Executing Tests
+~~~~~~~~~~~~~~~
+
+- All tests: ``make test ARGS="--output-on-failure -j3"``
+- Single test: ``make test opSimulation_Tests ARGS="--output-on-failure -j3"``
diff --git a/content/html/_sources/installation_guide/further_guidance/40_custom_proto.rst.txt b/content/html/_sources/installation_guide/further_guidance/40_custom_proto.rst.txt
new file mode 100644
index 0000000..c9fbe5f
--- /dev/null
+++ b/content/html/_sources/installation_guide/further_guidance/40_custom_proto.rst.txt
@@ -0,0 +1,143 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _building_protobuf:
+
+Custom Protobuf Build
+*********************
+
+Build and Install Protobuf
+==========================
+
+As Protobuf can be installed easily as binary package in different versions (see :ref:`Binary_packages`) via appropiate package managing systems, there is no need to build protobuf from source.
+However, if a custom build is necessary, this section gives instructions, how to compile version 3.11.4. and hook it into the |op| build.
+Adjust this guide to your needs.
+
+#. Download release 3.11.4 from https://github.com/protocolbuffers/protobuf/releases
+
+#. Extract
+
+ - for Windows to ``C:\OpenPASS\thirdParty\sources\protobuf-cpp-3.11.4``
+
+ - for Linux to ``~/OpenPASS/thirdParty/sources/protobuf-cpp-3.11.4``
+
+#. Navigate to the extracted folder
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ Start |mingw_shell|
+
+ .. code-block::
+
+ cd /C/OpenPASS/thirdParty/sources/protobuf-cpp-3.11.4
+
+ .. tab:: Linux
+
+ Start ``Bash`` shell
+
+ .. code-block::
+
+ cd ~/OpenPASS/thirdParty/sources/protobuf-cpp-3.11.4
+
+#. Create build directory
+
+ .. code-block::
+
+ cd cmake
+ mkdir build
+ cd build
+
+#. Run Cmake
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. code-block::
+ :emphasize-lines: 6
+
+ cmake -G "MSYS Makefiles" \
+ -DCMAKE_BUILD_TYPE=Release \
+ -DCMAKE_INSTALL_PREFIX=C:/OpenPASS/thirdParty/protobuf \
+ -Dprotobuf_BUILD_SHARED_LIBS=ON \
+ -Dprotobuf_BUILD_TESTS=OFF \
+ ..
+
+ .. tab:: Linux
+
+ .. code-block::
+ :emphasize-lines: 5
+
+ cmake -DCMAKE_BUILD_TYPE=Release \
+ -DCMAKE_INSTALL_PREFIX=~/OpenPASS/thirdParty/protobuf \
+ -Dprotobuf_BUILD_SHARED_LIBS=ON \
+ -Dprotobuf_BUILD_TESTS=OFF \
+ ..
+
+ .. note::
+
+ Tests are disabled due to compiler warnings treated as errors (may vary with compiler version).
+
+#. Compile
+
+ .. code-block::
+
+ make -j3
+
+#. Install
+
+ .. code-block::
+
+ make install
+
+
+Hook Protobuf into OSI
+======================
+
+If you want to build and install OSI with a custom build of Protobuf, most of the
+steps can be followed as described in instruction :ref:`Building_osi`. However, one
+step must be added.
+
+For all required steps *before* the following command, see :ref:`Building_osi`.
+
+#. Additional ``CMake`` variables have to be set.
+
+ .. tabs::
+
+ .. tab:: Windows
+
+ .. code-block::
+ :emphasize-lines: 7
+
+ cmake -G “MSYS Makefiles” \
+ -DCMAKE_BUILD_TYPE=Release \
+ -DCMAKE_INSTALL_PREFIX=C:/OpenPASS/thirdParty/osi \
+ -DPROTOBUF_INCLUDE_DIR=C:/OpenPASS/thirdParty/protobuf/include \
+ -DPROTOBUF_PROTOC_EXECUTABLE=C:/OpenPASS/thirdParty/protobuf/bin/protoc.exe \
+ -DPROTOBUF_LIBRARY=C:/OpenPASS/thirdParty/protobuf/lib/libprotobuf.a \
+ ..
+
+ .. tab:: Linux
+
+ .. code-block::
+ :emphasize-lines: 6
+
+ cmake -DCMAKE_BUILD_TYPE=Release \
+ -DCMAKE_INSTALL_PREFIX=~/OpenPASS/thirdParty/osi \
+ -DPROTOBUF_INCLUDE_DIR=~/OpenPASS/thirdParty/protobuf/include \
+ -DPROTOBUF_PROTOC_EXECUTABLE=~/OpenPASS/thirdParty/protobuf/bin/protoc \
+ -DPROTOBUF_LIBRARY=~/OpenPASS/thirdParty/protobuf/lib/libprotobuf.a \
+ ..
+
+For all required steps *after* this stage, see :ref:`Building_osi`.
diff --git a/content/html/_sources/installation_guide/sim_installation_guide/ides/10_vscode.rst.txt b/content/html/_sources/installation_guide/sim_installation_guide/ides/10_vscode.rst.txt
deleted file mode 100644
index f9dbc50..0000000
--- a/content/html/_sources/installation_guide/sim_installation_guide/ides/10_vscode.rst.txt
+++ /dev/null
@@ -1,196 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-Working with VSCode
-===================
-
-This section describes the basic setup for Visual Studio Code.
-Use it as a template for starting.
-
-.. figure:: _static/images/vscode.png
- :align: center
- :scale: 60%
-
- Proper setup VSCode showing **left**, debugging, testmate, and cmake pane selectors, and at the **bottom**, build type, kit, current target, and CTest runner.
-
-Assumptions
------------
-
-- For Windows, it is expected, that a **MSYS2/MinGW 64 Bit** is used.
-- For brevity, non-standard libraries are expected to be in the folder ``deps/thirdParty``.
-
-Install and Config
-------------------
-
-#. Install Visual Studio Code
-
-#. Install extensions
-
- - C/C++
- - CMake Tools
- - C++ Testmate
-
-#. Open the repository as folder, e.g. by calling ``code simopenpass`` after checking out.
- If CMakeTools are setup right, it should as, if you like to configure it now and always on opening.
- Say yes to configuration, which will create a ``build`` folder, but fails to do more (config follows below).
-
-#. **Windows only** Make Kit available:
-
- #. ``Ctrk+Shift+P``: ``CMake: Edit User-Local CMake Kits``
- #. Insert/Update:
-
- .. code-block:: JSON
-
- {
- "name": "MinGW64 GCC",
- "compilers": {
- "C": "C:\\msys64\\mingw64\\bin\\gcc.exe",
- "CXX": "C:\\msys64\\mingw64\\bin\\g++.exe"
- },
- "preferredGenerator": {
- "name": "MinGW Makefiles"
- },
- "environmentVariables": {
- "PATH": "C:\\msys64\\mingw64\\bin"
- }
- }
-
- +. ``Ctrk+Shift+P``: ``CMake: Select a Kit`` = ``MinGW64 GCC``
-
-#. Configure:
-
- #. ``Ctrk+Shift+P``: ``Preferences Open Workspace Settings (JSON)``
-
- #. Insert/Update:
-
- .. tabs::
-
- .. tab:: Windows
-
- .. code-block:: JSON
-
- {
- "cmake.cmakePath": "C:\\msys64\\mingw64\\bin\\cmake.exe",
- "cmake.mingwSearchDirs": [
- "C:\\msys64\\mingw64\\bin"
- ],
- "cmake.generator": "MinGW Makefiles",
- "cmake.parallelJobs": 2,
- "cmake.configureArgs": [
- "-DCMAKE_PREFIX_PATH=${workspaceRoot}/deps/thirdParty/win64/FMILibrary;${workspaceRoot}/deps/thirdParty/win64/osi",
- "-DUSE_CCACHE=ON",
- "-DWITH_EXTENDED_OSI=ON",
- "-DWITH_DEBUG_POSTFIX=OFF",
- "-DOPENPASS_ADJUST_OUTPUT=OFF"
- ]
- }
-
- .. tab:: Linux
-
- .. code-block:: JSON
-
- {
- "cmake.parallelJobs": 2,
- "cmake.configureArgs": [
- "-DCMAKE_PREFIX_PATH=${workspaceRoot}/deps/thirdParty/linux64/FMILibrary;${workspaceRoot}/deps/thirdParty/linux64/osi",
- "-DUSE_CCACHE=ON",
- "-DCMAKE_INSTALL_PREFIX=/OpenPASS/bin"
- ]
- }
-
- #. ``Ctrk+Shift+P``: ``CMake: Configure`` - cmake should now be able to configure the project.
- If not, cmake should give you at least a hint, what's missing (normally external libraries).
- Read :ref:`cmake` or :ref:`prerequisites` for more information.
-
- .. note::
-
- When changing libraries, it's recommended to wipe the cmake cache before reconfiguration:
- ``Ctrk+Shift+P`` > ``CMake: Delete Cache and Reconfigure``
-
-Testing
--------
-
-Testmate discovers tests only after they are built for the first time.
-It pays to run ``ctest`` on the console to build all test targets.
-After this, you should see all tests in the testing pane on the left.
-If not, check the extension setting ``testMate.cpp.test.executables`` and ``testMate.cpp.test.workingDirectory``
-
-Debugging
----------
-
-Cmake offers its own debugging functionality, but does not respect the dependencies between the |op| core and its components.
-This means, it tries to run the executable from within the build folder, e.g. ``./build/sim/src/core/slave/OpenPassSlave``.
-Unfortunately, in here, the core does not find any libraries or configurations.
-
-As a solution, setup a debug target, pointing at the installed executable instead:
-
-#. Got to "Run and Debug" (``Ctrl+Shift+D``) and *create a launch.json file*.
-
-#. Insert/Update:
-
-.. tabs::
-
- .. tab:: Windows
-
- .. code-block:: JSON
-
- {
- "configurations": [
- {
- "name": "Debug OpenPass",
- "type": "cppdbg",
- "request": "launch",
- "program": "C:/OpenPASS/bin/core/OpenPassSlave.exe",
- "args": [],
- "stopAtEntry": false,
- "cwd": "c:/openpass/bin/core",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "miDebuggerPath": "C:/msys64/mingw64/bin/gdb.exe",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- }
- }
-
- .. tab:: Linux
-
- .. code-block:: JSON
-
- {
- "configurations": [
- {
- "name": "Debug OpenPass",
- "type": "cppdbg",
- "request": "launch",
- "program": "/openPASS/bin/core/OpenPassSlave",
- "args": [],
- "stopAtEntry": false,
- "cwd": "/openPASS/bin/core/",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- }
- }
-
-.. warning:: Don't forget to run the target ``install`` before debugging.
diff --git a/content/html/_sources/installation_guide/sim_installation_guide/installation/10_quickstart.rst.txt b/content/html/_sources/installation_guide/sim_installation_guide/installation/10_quickstart.rst.txt
deleted file mode 100644
index 7762b10..0000000
--- a/content/html/_sources/installation_guide/sim_installation_guide/installation/10_quickstart.rst.txt
+++ /dev/null
@@ -1,137 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-Quick Start
-===========
-
-This section describes how compile and run |op| as quickly as possible.
-
-.. note:
-
- For **Windows**, an up-to-date MinGW 64-bit environment is assumed, for **Linux**, Debian Bullseye or Ubuntu 20.10 is recommended.
-
-#. Install :ref:`Prerequisites`
-
- For brevity, the following description assumes that prerequisites are located at within the repository at ``deps/thirdParty``.
-
-#. Get repository and submodules
-
- For brevity, the following description assumes that the checkout path is the default ``simopenpass``.
-
- .. code-block:: bash
-
- git clone https://gitlab.eclipse.org/eclipse/simopenpass/simopenpass.git
- cd simopenpass
-
-#. Prepare build
-
- Starting from ``simopenpass``
-
- .. tabs::
-
- .. tab:: Windows
-
- .. code-block:: bash
-
- mkdir build
- cd build
- cmake -G "MinGW Makefiles"\
- -D CMAKE_PREFIX_PATH="/mingw64/bin;\
- ../deps/thirdParty/win64/FMILibrary;\
- ../deps/thirdParty/win64/osi;"\
- -D CMAKE_INSTALL_PREFIX=/C/OpenPASS/bin/core \
- -D CMAKE_BUILD_TYPE=Release \
- -D CMAKE_WITH_DEBUG_POSTIX=OFF \
- -D OPENPASS_ADJUST_OUTPUT=OFF \
- -D USE_CCACHE=ON \
- -D CMAKE_C_COMPILER=gcc \
- -D CMAKE_CXX_COMPILER=g++ \
- ..
-
- .. tab:: Linux
-
- .. code-block:: bash
-
- mkdir build
- cd build
- cmake -D CMAKE_PREFIX_PATH=/opt/qt5.12.3/5.12.3/gcc_64\;\
- ../deps/thirdParty/linux64/FMILibrary\;\
- ../deps/thirdParty/linux64/boost\;\
- ../deps/thirdParty/linux64/osi\;\
- ../deps/thirdParty/linux64/protobuf\;\
- ../deps/thirdParty/linux64/googletest \
- -D CMAKE_INSTALL_PREFIX=/OpenPASS/bin/core \
- -D CMAKE_BUILD_TYPE=Release \
- -D CMAKE_WITH_DEBUG_POSTIX=OFF \
- -D OPENPASS_ADJUST_OUTPUT=OFF \
- -D USE_CCACHE=ON \
- -D CMAKE_C_COMPILER=gcc-10 \
- -D CMAKE_CXX_COMPILER=g++-10 \
- ..
-
- .. note:: Adjust paths and options based on your system and needs.
-
-#. Optional: Build and execute unit tests
-
- Starting from ``simopenpass/build``:
-
- .. code-block:: bash
-
- make test ARGS="--output-on-failure -j3"
-
- .. note::
-
- ARGS is optional, but recommended.
- Adjust parallel build flag ``-j3`` based on your system.
-
-#. Build simulation core
-
- Starting from ``simopenpass/build``:
-
- .. code-block:: bash
-
- make -j3 install
-
- .. note:: Again, adjust parallel build flag ``-j3`` based on your system.
-
-#. Fix installation (we're working on that...)
-
- .. tabs::
-
- .. tab:: Windows
-
- .. code-block:: bash
-
- cp /C/OpenPASS/bin/core/bin /C/OpenPASS/bin/core
-
- .. tab:: Linux
-
- .. code-block:: bash
-
- cp ./OpenPASS/bin/core/bin ./OpenPASS/bin/core
-
-#. Run simulation (example)
-
- Starting from ``simopenpass/build`` and using an example configuration:
-
- .. tabs::
-
- .. tab:: Windows
-
- .. code-block:: bash
-
- ./C/OpenPASS/bin/core/OpenPassSlave --config ../sim/contrib/examples/AEB
-
- .. tab:: Linux
-
- .. code-block:: bash
-
- ./OpenPASS/bin/core/OpenPassSlave --config ../sim/contrib/examples/AEB
diff --git a/content/html/_sources/installation_guide/sim_installation_guide/installation/30_build_prerequisites.rst.txt b/content/html/_sources/installation_guide/sim_installation_guide/installation/30_build_prerequisites.rst.txt
deleted file mode 100644
index 8a9359d..0000000
--- a/content/html/_sources/installation_guide/sim_installation_guide/installation/30_build_prerequisites.rst.txt
+++ /dev/null
@@ -1,263 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-Building Prerequisites
-======================
-
-This section describes custom building of prerequisites of |op|.
-
-To keep this guide as slim as possible, it only describes the **Windows perspective**.
-In general, this should work for Linux as well by adjusting paths and the ``make`` command accordingly.
-
-.. note::
-
- If you are unfamiliar to ``Cmake`` or working within a |mingw_shell|, Section :ref:`cmake` and :ref:`msys2` might give you a short introduction on these topics in the scope of Building OpenPASS itself.
-
-.. _ref_prerequisites:
-
-Referencing Prerequisites
--------------------------
-
-With the migration from qmake to cmake, all prerequisite are independent of each other and simply can be refereced by using the right :ref:`CMAKE_PREFIX_PATH`.
-
-.. warning::
-
- The following information is **DEPRECATED** and only needed if a ``qmake`` build shall be invoked.
-
-Historically, |op_oss| uses a **single entry-point** for libraries and headers, so all prerequisites must to be located within a common folder structure.
-If ``qmake`` needs to be invoked, and more than one prerequisite is customized, **a manual step** is necessary to establish this structure.
-
-Example:
-
-#. Build prerequisite_1
-#. Build prerequisite_2
-#. Copy libraries of both prerequisites into e.g. ``C:\OpenPASS\thirdParty\lib``
-#. Copy common headers into e.g. ``C:\OpenPASS\thirdParty\include``
-
-#. Reference the entry points by adding the following arguments to the qmake command
-
- .. code-block:: batch
-
- EXTRA_INCLUDE_PATH=c:\OpenPASS\thirdParty\include
- EXTRA_LIB_PATH=c:\OpenPASS\thirdParty\lib
-
- .. warning::
-
- Make sure that there is no linebreak between the two arguments.
- Qmake cannot handle this, but does not complain.
-
-.. _building_osi:
-
-Building OSI
-------------
-
-As teased in :ref:`Prerequisites`, the core component ``World_OSI`` uses :term:`OSI` as backend storage.
-OSI itself uses ``protobuf`` to describe data structures in a platform independent way by means of `*.proto` files.
-When building OSI, these files are converted into C++ headers and sources, using the protobuf compiler ``protoc``.
-Finally, the sources are then compiled into a library.
-|Op| finally uses the library and the generated headers to interface the library.
-
-#. Download release 3.2.0 from https://github.com/OpenSimulationInterface/open-simulation-interface
-
-#. Extract to e.g. ``C:\OpenPASS\thirdParty\sources\open-simulationinterface``
-
-#. Optional: Enable Arenas
-
- For better performance, |op| supports protobuf Arenas allocation (https://developers.google.com/protocol-buffers/docs/reference/arenas).
- To use this feature, OSI and |op| needs to be compiled with Arenas support.
- See :ref:`cmake_protobuf_arenas` how this feature is enabled in |op|.
-
- For OSI, ``option cc_enable_arenas = true;`` needs to be added **manually** to all OSI proto files before compilation.
- If everything goes well, ``protoc`` will generate all the magic necessary, otherwise issue an error during compilation.
-
-#. Open |mingw_shell| and navigate to extracted folder
-
-#. Create build directory
-
- .. code-block:: bash
-
- mkdir build
- cd build
-
-#. Run Cmake
-
- .. code-block:: bash
-
- cmake -G “MinGW Makefiles” \
- -DCMAKE_BUILD_TYPE=Release \
- -DCMAKE_INSTALL_PREFIX=C:/OpenPASS/thirdParty \
- -DProtobuf_INCLUDE_DIR=C:/OpenPASS/thirdParty/include \
- -DProtobuf_PROTOC_EXECUTABLE=C:/OpenPASS/thirdParty/bin/protoc.exe \
- -DProtobuf_LIBRARIES=C:/OpenPASS/thirdParty/lib \
- ..
-
- .. note::
-
- Here protobuf is used in as customized prerequisite (see :ref:`building_protobuf`).
- Adjust paths as needed, if already installed as system package.
-
-#. Add linker flags for protobuf
-
- Unfortunantly OSI does not allow for to hook in a custom protobuf library.
- To force compilation against a custom library, edit ``CMakeFiles\open_simulation_interface.dir\linklibs.rsp``
- and add ``-LC:/OpenPASS/thirdParty/lib -lprotobuf`` to the end of the line.
-
- .. admonition:: A little bit hacky...
-
- If anybody knows how to avoid this step, please let us know.
-
-#. Compile
-
- .. code-block:: bash
-
- mingw32-make -j3
-
-#. Install
-
- .. code-block:: bash
-
- mingw32-make install
-
-#. Deprecated: Establish unified layout for prerequisites (c.f. :ref:`ref_prerequisites`)
-
- .. code-block:: bash
-
- cd /C/OpenPASS/thirdParty
- cp lib/osi3/libopen_simulation_interface.dll lib
-
-.. admonition:: Documentation
-
- The OSI class documentation is part of the source code and can be compiled using Doxygen.
- Instructions are located in the OSI ``Readme.md``. A pre-compiled version is located `here <https://opensimulationinterface.github.io/open-simulation-interface/index.html>`_.
-
- So far, the documentation does not include the extensions from the openpass-trafficAgents branch.
-
-.. _building_protobuf:
-
-Building Protobuf
------------------
-
-.. note::
-
- Protobuf is already available as package for MSYS2 in different versions (see :ref:`msys2_packages`).
-
-If a custom build is necessary, adjust this guide to your needs.
-Exemplarily, it gives instructions, how to compile version 3.11.4. and hook it into the |op| build.
-
-#. Download release 3.11.4 from https://github.com/protocolbuffers/protobuf/releases
-
-#. Extract to e.g. ``C:\OpenPASS\thirdParty\sources\protobuf-cpp-3.11.4``
-
-#. Open |mingw_shell| and navigate to extracted folder
-
-#. Create build directory
-
- .. code-block:: bash
-
- cd cmake
- mkdir build
- cd build
-
-#. Run Cmake
-
- .. code-block:: bash
- :emphasize-lines: 5
-
- cmake -G "MinGW Makefiles" \
- -DCMAKE_BUILD_TYPE=Release \
- -DCMAKE_INSTALL_PREFIX=C:/OpenPASS/thirdParty \
- -Dprotobuf_BUILD_SHARED_LIBS=ON \
- -Dprotobuf_BUILD_TESTS=OFF \
- ..
-
- .. note::
-
- Tests are disabled due to compiler warnings treated as errors (may vary with compiler version).
-
-#. Compile
-
- .. code-block:: bash
-
- mingw32-make -j3
-
-#. Install
-
- .. code-block:: bash
-
- mingw32-make install
-
-#. Deprecated: Establish unified layout for prerequisites (c.f. :ref:`ref_prerequisites`)
-
- .. code-block:: bash
-
- cd /C/OpenPASS/thirdParty
- cp bin/libprotobuf.dll lib
-
-.. note::
-
- Please refer to :ref:`runmingwexe` to see how to run the protobuf compiler ``protoc.exe`` outside of the |mingw_shell|.
-
-.. _building_fmil:
-
-Building FMIL
--------------
-
-#. Download release 2.0.3 from https://github.com/modelon-community/fmi-library
-
-#. Extract to e.g. ``C:\OpenPASS\thirdParty\sources\fmi-library``
-
-#. Open |mingw_shell| and navigate to extracted folder
-
-#. Create build directory
-
- .. code-block:: bash
-
- mkdir build
- cd build
-
-#. Run Cmake
-
- .. code-block:: bash
-
- cmake -G "MinGW Makefiles" \
- -DFMILIB_INSTALL_PREFIX=C:/OpenPASS/thirdParty \
- -DCMAKE_BUILD_TYPE=Release \
- -DFMILIB_BUILD_STATIC_LIB=OFF \
- -DFMILIB_BUILD_SHARED_LIB=ON \
- ..
-
-#. Apply Patch (Linux only)
-
- As FMIL and the internally used `FMU Compliance Checker <https://github.com/modelica-tools/FMUComplianceChecker>`_ has issues with loading and private entry points under Linux, the following patch needs to be applied: :download:`Linux Patch </_static/resources/fmil/fmil203.patch>`
-
-#. Compile
-
- .. code-block:: bash
-
- mingw32-make -j3
-
-#. Install
-
- .. code-block:: bash
-
- mingw32-make install
-
-#. Deprecated: Establish unified layout for prerequisites (c.f. :ref:`ref_prerequisites`)
-
- .. code-block:: bash
-
- cd /C/OpenPASS/thirdParty/include
- mkdir FMILibrary
- mv -r FMI FMILibrary
- mv -r FMI2 FMILibrary
- mv -r JM FMILibrary
- mv fmilib.h FMILibrary
- mv fmilib_config.h FMILibrary
diff --git a/content/html/_sources/installation_guide/sim_installation_guide/installation/50_windows.rst.txt b/content/html/_sources/installation_guide/sim_installation_guide/installation/50_windows.rst.txt
deleted file mode 100644
index 98201ad..0000000
--- a/content/html/_sources/installation_guide/sim_installation_guide/installation/50_windows.rst.txt
+++ /dev/null
@@ -1,174 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _building_under_windows:
-
-Building under Windows
-======================
-
-To compile |op| with gcc/g++ locally under Windows, :term:`MSYS2` programming tools are recommended.
-
-.. warning::
- | The windows programming tools suffer from a `path length restriction`.
- | This error manifests as strange **file not found** compile errors.
-
-.. admonition:: Recommendation
-
- | Use a short path for source code checkout, or map it directly to a drive letter.
- | This can be done by the windows command `subst <https://docs.microsoft.com/en-us/windows-server/administration/windows-commands/subst>`_.
-
-.. _msys2:
-
-MSYS2
-~~~~~
-
-| This is a condensed version of the original MSYS2 guide found `here <https://www.msys2.org/>`_.
-
-Download
---------
-
-- Latest 64-bit packages are located at https://repo.msys2.org/distrib/x86_64/.
-- Download a non-base package, i.e. `msys2-x86_64-20200903.exe <https://repo.msys2.org/distrib/x86_64/msys2-x86_64-20200903.exe>`_
-
-.. _msys2_installation:
-
-Installation
-------------
-
-Run the downloaded executable and adjust suggested settings to your needs (defaults are fine).
-In the following, it is assumed that MSYS2 is installed under ``C:\msys64``.
-
-Environments
--------------
-
-MSYS2 provides three different environments, located in the MSYS2 installation directory:
-
-.. _fig_msys2_environments:
-
-.. figure:: _static/images/msys2.png
- :align: center
- :alt: MSYS2 Apps
-
- MSYS2 Environments
-
-- MSYS2 MSYS: Common environment, i.e. for package management
-- MSYS2 MinGW 32-bit: A MinGW 32-bit environment
-- | MSYS2 MinGW 64-bit: A MinGW 64-bit environment
- | This is **the** |op| development environment and will be referred to as |mingw_shell|.
-
-.. _msys2_packages:
-
-Packages
---------
-
-Update and install required packages (see also :ref:`prerequisites`).
-
-#. Open ``MSYS2 MSYS`` and execute the following package manager ``pacman`` commands to update the package repository and upgrade system packages:
-
- .. code-block:: bash
-
- pacman -Syuu
-
- If the upgrade requires a restart of MSYS2, resume the upgrade by re-opening the shell and call:
-
- .. code-block:: bash
-
- pacman -Suu
-
-#. Required packages (can be specified in single command line if desired):
-
- .. literalinclude:: _static/msys2_packages.txt
- :language: bash
-
- .. admonition:: Versions
-
- | MSYS2 provides rolling release versions, so some packages might be too "up-to-date".
- | Tested packages - ate time of writing - have been listed above as comment.
- | If in doubt, download the package in the right version from the `MSYS2 package repository <http://repo.msys2.org/mingw/x86_64/>`_.
- | Install with ``pacman -U <package-filename>``
-
-#. Optional Packages
-
- .. code-block:: bash
-
- pacman -S git
- pacman -S diffutils
- pacman -S patch
- pacman -S dos2unix
- pacman -S mingw-w64-x86_64-ag
- pacman -S mingw-w64-x86_64-qt5-debug
-
-.. admonition:: GIT/SSH
-
- The |mingw_shell| does not access an already existing git installation or available SSH keys.
- Make sure, to update/copy your configuration and credentials within the |mingw_shell| before working with git.
-
-Building OpenPASS
------------------
-
-This snippet shows an example for building the |op_oss| simulation core from within the |mingw_shell|.
-Refer to :ref:`cmake` for details on the arguments.
-
-.. code-block:: bash
-
- cmake -G "MinGW Makefiles" \
- -D CMAKE_BUILD_TYPE=Debug \
- -D OPENPASS_ADJUST_OUTPUT=OFF \
- -D USE_CCACHE=ON \
- -D WITH_DEBUG_POSTFIX=OFF \
- -D WITH_GUI=OFF \
- -D WITH_PROTOBUF_ARENA=ON \
- -D CMAKE_INSTALL_PREFIX=C:/OpenPASS/bin/core \
- -D CMAKE_PREFIX_PATH="PATH_FMIL;PATH_BOOST;PATH_OSI;PATH_PROTOBUF;PATH_GTEST" \
- ..
-
- mingw32-make -j3
- mingw32-make install
-
-.. note::
-
- The call to mingw32-make might be misleading, but actually calls gcc/g++ 64-bit.
-
-.. _runmingwexe:
-
-Execution
----------
-
-Files compiled within the |mingw_shell| depend on the :term:`MinGW` libraries.
-Providing this libraries to the executable can be done by following means:
-
-- Execute within the |mingw_shell|.
-- Add ``C:\msys64\mingw64\bin`` permanently to the *Windows Environment Variable* ``Path``.
-- Temporarily set ``Path`` prior to the execution, e.g. in a wrapper:
-
- .. code-block:: batch
-
- # your_program.cmd
- Path=C:\msys64\mingw64\bin;%Path% # set Path
- your_program.exe # execute
-
-- | Copy the required libraries right next to your executable.
- | For |op|, the following librares are required:
-
- - libdouble-conversion.dll
- - libgcc_s_seh-1.dll
- - libicudt67.dll
- - libicuin67.dll
- - libicuuc67.dll
- - libpcre2-16-0.dll
- - libstdc++-6.dll
- - libwinpthread-1.dll
- - libzstd.dll
- - zlib1.dll
-
- .. warning::
-
- You might need to update the some libraries manually, when package are upgraded.
diff --git a/content/html/_sources/installation_guide/sim_installation_guide/installation/60_linux.rst.txt b/content/html/_sources/installation_guide/sim_installation_guide/installation/60_linux.rst.txt
deleted file mode 100644
index ce1390f..0000000
--- a/content/html/_sources/installation_guide/sim_installation_guide/installation/60_linux.rst.txt
+++ /dev/null
@@ -1,43 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _building_under_linux:
-
-Building under Linux
-====================
-
-Before building |op|, install the according :ref:`prerequisites`.
-OpenPass is developed under Debian 64-Bit, which means that developing under a recent Ubuntu distribution should also work.
-Debian uses ``apt`` (or ``apt-get``) as package managing system, and most prerequisites should be installable via ``app install package``.
-
-This snippet shows an example for building |op_oss|.
-Refer to :ref:`cmake` for details on the arguments.
-
-.. code-block:: bash
- :emphasize-lines: 9
-
- cmake
- -D CMAKE_BUILD_TYPE=Debug \
- -D OPENPASS_ADJUST_OUTPUT=OFF \
- -D USE_CCACHE=ON \
- -D WITH_DEBUG_POSTFIX=OFF \
- -D WITH_GUI=OFF \
- -D WITH_PROTOBUF_ARENA=ON \
- -D CMAKE_INSTALL_PREFIX=/OpenPASS/bin/core \
- -D CMAKE_PREFIX_PATH=PATH_FMIL\;PATH_BOOST\;PATH_OSI\;PATH_PROTOBUF\;PATH_GTEST \
- ..
-
- make -j3
- make install
-
-.. note::
-
- Don't forget to escape the semicolon ``;`` (see :ref:`CMAKE_PREFIX_PATH`)
diff --git a/content/html/_sources/installation_guide/sim_installation_guide/meta/sphinx.rst.txt b/content/html/_sources/installation_guide/sim_installation_guide/meta/sphinx.rst.txt
deleted file mode 100644
index df4b75f..0000000
--- a/content/html/_sources/installation_guide/sim_installation_guide/meta/sphinx.rst.txt
+++ /dev/null
@@ -1,59 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _sphinx:
-
-Sphinx
-======
-
-What is Sphinx
---------------
-
-Sphinx is a python based documentation generator, using `reStructuredText <https://www.sphinx-doc.org/en/master/usage/restructuredtext/basics.html>`_ as primary import format.
-
-Who uses Sphinx
----------------
-
-- Everybody who publishes on `ReadTheDocs <https://readthedocs.org/>`_
-- `OSI <https://github.com/OpenSimulationInterface/osi-documentation>`_
-
-Why not markdown
-----------------
-
-- Markdown was not invented to write documentation
-- Right now the doxygen implementation is not pure markdown, which makes it a bit nasty to use
-- Markdown does not support true references (and reference checking), figures (and captions), toc, glossary, versioning, ...
-- Markdown is also supported by sphinx, but does not integrate with the cool and fancy features.
-
-Resources
----------
-
-- `reStructuredText Primer <https://www.sphinx-doc.org/en/master/usage/restructuredtext/basics.html>`_
-- `A "How to" Guide for Sphinx + ReadTheDocs <https://sphinx-rtd-tutorial.readthedocs.io/en/latest/index.html>`_
-- `Sphinx Documentation <https://www.sphinx-doc.org>`_
-- `OSI Sphinx Config <https://github.com/OpenSimulationInterface/osi-documentation/blob/master/conf.py>`_
-
-Building this Documentation (Linux/Debian)
-------------------------------------------
-
-.. code-block:: bash
-
- # install python, pip, sphinx, spellchecker, ...
- sudo apt install doxygen python3 python3-pip python3-sphinx libenchant-2-2 dvipng
-
- # install sphinx extensions
- pip3 install sphinx sphinx-rtd-theme sphinx-tabs breathe exhale sphinxcontrib-spelling
-
- # build doc (only)
- mkdir build
- cd build
- cmake -DWITH_SIMCORE=OFF -DWITH_TESTS=OFF -DWITH_DOC=ON ..
- make doc
diff --git a/content/html/_sources/license.rst.txt b/content/html/_sources/license.rst.txt
deleted file mode 100644
index 3c2e79b..0000000
--- a/content/html/_sources/license.rst.txt
+++ /dev/null
@@ -1,18 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-License
-=======
-
-This program and the accompanying materials are made available under the terms of the Eclipse Public License 2.0 which is available at https://www.eclipse.org/legal/epl-2.0/
-
-
-SPDX-License-Identifier: EPL-2.0
diff --git a/content/html/_sources/installation_guide/sim_installation_guide/installation/20_prerequisites.rst.txt b/content/html/_sources/other_information/10_external_dependencies.rst.txt
similarity index 65%
rename from content/html/_sources/installation_guide/sim_installation_guide/installation/20_prerequisites.rst.txt
rename to content/html/_sources/other_information/10_external_dependencies.rst.txt
index b2404cd..2432156 100644
--- a/content/html/_sources/installation_guide/sim_installation_guide/installation/20_prerequisites.rst.txt
+++ b/content/html/_sources/other_information/10_external_dependencies.rst.txt
@@ -1,188 +1,179 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _prerequisites:
-
-Prerequisites
-=============
-
-This section gives detailed information about the prerequisite and tested version.
-In short:
-
-.. tabs::
-
- .. tab:: Windows (MSYS2)
-
- .. literalinclude:: _static/msys2_packages.txt
- :language: bash
-
- Details: :ref:`building_under_windows`
-
- .. tab:: Linux (Debian Bullseye)
-
- .. code-block:: bash
-
- apt install ccache
- apt install cmake
- apt install doxygen
- apt install googletest
- apt install gcc
- apt install g++
- apt install graphviz
- apt install libprotobuf-dev
- apt install protobuf-compiler # when building osi
- apt install qt5-default
-
- Details: :ref:`building_under_linux`
-
-GNU Compiler Collection (gcc)
------------------------------
-
-**Version (latest tested):** 10.2.3
-
-|Op| is developed on Linux and Windows (64-Bit) in `C++17 <https://isocpp.org/>`_ using the GNU Compiler Collection (`gcc <https://gcc.gnu.org/>`_).
-
-.. admonition:: Useful hints
-
- - | |op| has been developed using gcc 7.x, 8.x, 9.x, and more recently gcc 10.x.
- | There are no known issues regarding the different versions.
- - Since no compiler specific features are used, the source should also compile with `clang <https://clang.llvm.org/>`_.
- - Generally, there is support for `MSVC <https://docs.microsoft.com/en-us/cpp/build/reference/c-cpp-building-reference>`_ , but currently not actively maintained by the |opwg|.
-
-GNU Debugger (gdb)
-------------------
-
-**Version (latest tested):** 9.2
-
-Debugging tools for gcc: https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html
-
-CMake
------
-
-**Version (latest tested):** 3.18.4
-
-|Op| uses `CMake <https://cmake.org/>`_ for building and testing.
-For details on the provided options, see :ref:`cmake`.
-
-.. Note:: The former support for ``qmake`` is expiring and not documented anymore.
-
-.. _prerequisites_ccache:
-
-Ccache
-------
-
-**Version (latest tested):** 3.7.11
-
-|Op| supports the compiler cache `Ccache <https://ccache.dev/>`_ for faster recompilation.
-Use only, if you need to recompile regularly.
-
-.. admonition:: Useful hints
-
- - The first compilation is definilty slower (e.g. by 30%), as the cache needs to be built.
- - If used regularily, increasing the cache size is recommended, e.g.: ``ccache -M 20G``
-
-Doxygen
--------
-
-**Version (latest tested):** 1.8.20
-
-Documentation is created using `Doxygen <https://www.doxygen.nl/index.html>`_.
-
-.. admonition:: Useful hints
-
- - Doxygen introduced support for Markdown with 1.8, which is still in use.
- Don't use older versions.
-
-Qt Framework
-------------
-
-**Version (officially supported):** 5.12.3
-
-|Op| uses some features from the `Qt <https://www.qt.io/>`_ framework.
-While the GUI of |op_oss| heavily relies on it, the simulation core tries to stick to the C++ standard framework as far as possible.
-
-.. admonition:: Note on Versions
-
- | Versions starting from 5.4 should generally work, but are not officially supported anymore/yet.
- | Version 5.15.1 has been reported to work well.
-
-Boost C++ Libraries
--------------------
-
-**Version (officially supported):** 1.72.0
-
-Especially for geometrical calculations, |op| uses parts of the `Boost C++ Libraries <https://www.boost.org/>`_.
-
-.. admonition:: Note on Versions
-
- More recent versions should integrate without issues, but 1.74.0 already raise warnings for some deprecated headers.
-
-googletest
-----------
-
-**Version (officially supported)** 1.10.0
-
-Tests are written in `googletest <https://github.com/google/googletest>`_ and |Op| makes use of the included *googletest* (gtest) C++ testing framework, as well as the included mocking framework *googlemock* (gmock).
-
-.. note::
-
- The lastest major release brought several API changes, which made some code fixes necessary.
- Use newer versions with precaution.
-
-.. _prerequisites_osi:
-
-Open Simulation Interface (OSI)
--------------------------------
-
-**Version (officially supported):** 3.2.0
-
-The internal world representation uses the `Open Simulation Interface <https://github.com/OpenSimulationInterface>`_ (:term:`OSI`) as part of its ground truth (backend storage) and exchange format.
-
-.. figure:: _static/images/osi_in_openpass.png
- :align: center
- :scale: 60%
- :alt: OSI in |op|
-
- Interaction between World and consumers of OSI messages.
-
-Thereby, OSI provides data structures for representation of various objects in traffic simulation environments.
-Note that OSI is primarily developed in a sensor centric view, such as lane markings and object boundaries.
-Beyond that, |op| holds data for non-sensor centric data, such as metainfo on lanes and roads.
-
-As shown, OSI itself depends on :ref:`prerequisites_protobuf`.
-If not already installed, the library and headers have to be built prior to OSI.
-
-.. admonition:: Note on Versions
-
- |Op| supports **integration of custom made or experimental versions** of OSI (see :ref:`building_osi`).
- For example, `Algorithm_FmuWrapper` and the wrapped `OSMP` FMUs use the proposed OSI messages `TrafficUpdate` and `TrafficCommand`, not yet defined in OSI 3.2.0.
-
-.. _prerequisites_protobuf:
-
-Protocol Buffers (protobuf)
----------------------------
-
-**Supported Version (officially supported):** 3.12.2
-
-:ref:`prerequisites_osi` uses `Protocol Buffers <https://developers.google.com/protocol-buffers>`_ for describing and serialization of its datastructures.
-
-.. admonition:: Note on Versions
-
- - So far, no version limitations known (including 2.x).
- - |Op| lets you integrate your own protobuf libraries if necessary (see :ref:`building_protobuf`).
-
-Modelon FMI Library (FMIL)
---------------------------
-
-**Supported Version:** 2.0.3
-
-For integration of Functional Mock-up Units (FMUs) the `Algorithm_FmuWrapper` uses the `Modelon FMI Library <https://github.com/modelon-community/fmi-library>`_.
-As there is no binary available, FMIL needs to be build from scratch before |op| can be compiled (see :ref:`building_fmil`).
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+External Dependencies
+=====================
+
+|OP| depends on a number of external dependencies. Installation of those dependencies is described in :ref:`prerequisites`.
+
+The third party software dependency of |op| can be divided into:
+
+- **Build environment**, which manages third party software and is used to compile and install |op|
+- **Binary packages**, which can be easily installed via a package manager of the respective build environment
+- **Source packages**, which need to be built from source code
+
+This section gives an overview of the dependencies and how they are used.
+
+Information on Binary Packages
+------------------------------
+
+GNU Compiler Collection (gcc)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Version (latest tested): 10.2.3
+
+|Op| is developed on Linux and Windows (64-Bit) in `C++17 <https://isocpp.org/>`_ using the GNU Compiler Collection (`gcc <https://gcc.gnu.org/>`_).
+
+.. admonition:: Useful hints
+
+ - | |op| has been developed using gcc 7.x, 8.x, 9.x, and more recently gcc 10.x.
+ | There are no known issues regarding the different versions.
+ - Since no compiler specific features are used, the source should also compile with `clang <https://clang.llvm.org/>`_.
+ - Generally, there is support for `MSVC <https://docs.microsoft.com/en-us/cpp/build/reference/c-cpp-building-reference>`_ , but currently not actively maintained by the |opwg|.
+
+GNU Debugger (gdb)
+~~~~~~~~~~~~~~~~~~
+
+Version (latest tested): 9.2
+
+Debugging tools for gcc: https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html
+
+CMake
+~~~~~
+
+Version (latest tested): 3.18.4
+
+|Op| uses `CMake <https://cmake.org/>`_ for building and testing.
+For details on the provided options, see :ref:`cmake`.
+
+.. Note:: The former support for ``qmake`` is expiring and not documented anymore.
+
+.. _prerequisites_ccache:
+
+Ccache
+~~~~~~
+
+Version (latest tested): 3.7.11
+
+|Op| supports the compiler cache `Ccache <https://ccache.dev/>`_ for faster recompilation.
+Use only, if you need to recompile regularly.
+
+.. admonition:: Useful hints
+
+ - The first compilation is definilty slower (e.g. by 30%), as the cache needs to be built.
+ - If used regularily, increasing the cache size is recommended, e.g.: ``ccache -M 20G``
+
+Doxygen
+~~~~~~~
+
+Version (latest tested): 1.8.20
+
+Documentation is created using `Doxygen <https://www.doxygen.nl/index.html>`_.
+
+.. admonition:: Useful hints
+
+ - Doxygen introduced support for Markdown with 1.8, which is still in use.
+ Don't use older versions.
+
+Qt Framework
+~~~~~~~~~~~~
+
+Version (officially supported): 5.12.3
+
+|Op| uses some features from the `Qt <https://www.qt.io/>`_ framework.
+While the GUI of |op_oss| heavily relies on it, the simulator tries to stick to the C++ standard framework as far as possible.
+
+.. admonition:: Note on Versions
+
+ | Versions starting from 5.4 should generally work, but are not officially supported anymore/yet.
+ | Version 5.15.1 has been reported to work well.
+
+Boost C++ Libraries
+~~~~~~~~~~~~~~~~~~~
+
+Version (officially supported): 1.72.0
+
+Especially for geometrical calculations, |op| uses parts of the `Boost C++ Libraries <https://www.boost.org/>`_.
+
+.. admonition:: Note on Versions
+
+ More recent versions should integrate without issues, but 1.74.0 already raise warnings for some deprecated headers.
+
+googletest
+~~~~~~~~~~
+
+Version (officially supported): 1.10.0
+
+Tests are written in `googletest <https://github.com/google/googletest>`_ and |Op| makes use of the included *googletest* (gtest) C++ testing framework, as well as the included mocking framework *googlemock* (gmock).
+
+.. note::
+
+ The lastest major release brought several API changes, which made some code fixes necessary.
+ Use newer versions with precaution.
+
+Information on Source Packages
+------------------------------
+
+The second and last set of dependencies we need to dissolve are based on source packages.
+Since installing such source packages is not easy, we have dedicated a separate chapter on this topic.
+See :ref:`Building prerequisites` for a step-by-step instruction on how to download, build and install needed source packages.
+
+Details on source packages:
+
+.. _prerequisites_osi:
+
+Open Simulation Interface (OSI)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Version (officially supported): 3.2.0
+
+The internal world representation uses the `Open Simulation Interface <https://github.com/OpenSimulationInterface>`_ (:term:`OSI`) as part of its ground truth (backend storage) and exchange format.
+
+.. figure:: _static/images/osi_in_openpass.png
+ :align: center
+ :scale: 60%
+ :alt: OSI in |op|
+
+ Interaction between World and consumers of OSI messages.
+
+Thereby, OSI provides data structures for representation of various objects in traffic simulation environments.
+Note that OSI is primarily developed in a sensor centric view, such as lane markings and object boundaries.
+Beyond that, |op| holds data for non-sensor centric data, such as metainfo on lanes and roads.
+
+As shown, OSI itself depends on :ref:`prerequisites_protobuf`.
+If not already installed, the library and headers have to be built prior to OSI.
+
+.. admonition:: Note on Versions
+
+ |Op| supports **integration of custom made or experimental versions** of OSI (see :ref:`building_osi`).
+ For example, `Algorithm_FmuWrapper` and the wrapped `OSMP` FMUs use the proposed OSI messages `TrafficUpdate` and `TrafficCommand`, not yet defined in OSI 3.2.0.
+
+.. _prerequisites_protobuf:
+
+Protocol Buffers (protobuf)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Supported Version (officially supported): 3.12.2
+
+:ref:`prerequisites_osi` uses `Protocol Buffers <https://developers.google.com/protocol-buffers>`_ for describing and serialization of its datastructures.
+
+.. admonition:: Note on Versions
+
+ - So far, no version limitations known (including 2.x).
+ - |Op| lets you integrate your own protobuf libraries if necessary (see :ref:`building_protobuf`).
+
+Modelon FMI Library (FMIL)
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Supported Version: 2.0.3
+
+For integration of Functional Mock-up Units (FMUs) the `Algorithm_FmuWrapper` uses the `Modelon FMI Library <https://github.com/modelon-community/fmi-library>`_.
+As there is no binary available, FMIL needs to be build from scratch before |op| can be compiled (see :ref:`building_fmil`).
diff --git a/content/html/_sources/glossary.rst.txt b/content/html/_sources/other_information/20_glossary.rst.txt
similarity index 84%
rename from content/html/_sources/glossary.rst.txt
rename to content/html/_sources/other_information/20_glossary.rst.txt
index 78c6649..7fd7c9b 100644
--- a/content/html/_sources/glossary.rst.txt
+++ b/content/html/_sources/other_information/20_glossary.rst.txt
@@ -1,74 +1,74 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-Glossary
-========
-
-.. glossary::
-
- ADAS
- Advanced Driving Assistance Systems
-
- AEB
- Autonomous Emergency Brake
- preventive emergency braking in danger (support or independent launch)
-
- Channel
- Connects components within an agent (using unique ID)
-
- Component
- A module that is part of an agent's equipment
-
- COG
- Center of gravity
-
- Dynamics
- Calculation of dynamic parameters, e.g. position of Agent
-
- MinGW
- Complete Open Source programming tool set, suitable for the development of native MS-Windows applications.
-
- Model
- An abstract representation of a real object which might omit details e.g. ADAS, driving dynamics, pedestrian, environmental conditions. In the PreCASE framework, a model consists of one or more modules as well as channels connecting them.
-
- Module
- A dynamic library that is loaded and whose interface functions are called by the framework. Modules contain models or other individual functionality necessary for the simulation. Modules are exchangeable and can be fitted to various purposes ensuring ahigh flexibility of the framework.
-
- MSYS
- Collection of GNU utilities (e.g. bash, make, gcc) to allow building of programs which depend on traditionally UNIX tools to be present. It is intended to supplement :term:`MinGW`.
-
- MSYS2
- Independent rewrite of :term:`MSYS`, based on Cygwin (POSIX compatibility layer) and MinGW-w64.
-
- OD
- openDRIVE
-
- openPASS
- Open Platform for Assessment of Safety Systems
-
- OSI
- A generic interface for the environmental perception of automated driving functions in virtual scenarios.
-
- PreCASE
- Framework for the Simulative Evaluation of Active Safety Systems in Vehicles (OpenPASS predecessor).
-
- Scenario
- A set of similar traffic situations.
-
- TTC
- Time to collision
-
-
-
-
-
-
-
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+Glossary
+========
+
+.. glossary::
+
+ ADAS
+ Advanced Driving Assistance Systems
+
+ AEB
+ Autonomous Emergency Brake
+ preventive emergency braking in danger (support or independent launch)
+
+ Channel
+ Connects components within an agent (using unique ID)
+
+ Component
+ A module that is part of an agent's equipment
+
+ COG
+ Center of gravity
+
+ Dynamics
+ Calculation of dynamic parameters, e.g. position of Agent
+
+ MinGW
+ Complete Open Source programming tool set, suitable for the development of native MS-Windows applications.
+
+ Model
+ An abstract representation of a real object which might omit details e.g. ADAS, driving dynamics, pedestrian, environmental conditions. In the PreCASE framework, a model consists of one or more modules as well as channels connecting them.
+
+ Module
+ A dynamic library that is loaded and whose interface functions are called by the framework. Modules contain models or other individual functionality necessary for the simulation. Modules are exchangeable and can be fitted to various purposes ensuring ahigh flexibility of the framework.
+
+ MSYS
+ Collection of GNU utilities (e.g. bash, make, gcc) to allow building of programs which depend on traditionally UNIX tools to be present. It is intended to supplement :term:`MinGW`.
+
+ MSYS2
+ Independent rewrite of :term:`MSYS`, based on Cygwin (POSIX compatibility layer) and MinGW-w64.
+
+ OD
+ openDRIVE
+
+ openPASS
+ Open Platform for Assessment of Safety Systems
+
+ OSI
+ A generic interface for the environmental perception of automated driving functions in virtual scenarios.
+
+ PreCASE
+ Framework for the Simulative Evaluation of Active Safety Systems in Vehicles (OpenPASS predecessor).
+
+ Scenario
+ A set of similar traffic situations.
+
+ TTC
+ Time to collision
+
+
+
+
+
+
+
diff --git a/content/html/_sources/other_information/30_license.rst.txt b/content/html/_sources/other_information/30_license.rst.txt
new file mode 100644
index 0000000..9c9333e
--- /dev/null
+++ b/content/html/_sources/other_information/30_license.rst.txt
@@ -0,0 +1,18 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+License
+=======
+
+This program and the accompanying materials are made available under the terms of the Eclipse Public License 2.0 which is available at https://www.eclipse.org/legal/epl-2.0/
+
+
+SPDX-License-Identifier: EPL-2.0
diff --git a/content/html/_sources/user_guide/10_gui_user_guide.rst.txt b/content/html/_sources/user_guide/10_gui_user_guide.rst.txt
deleted file mode 100644
index b8a42c0..0000000
--- a/content/html/_sources/user_guide/10_gui_user_guide.rst.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _gui_user_guide:
-
-GUI User Guide
-==============
-
-.. todo:: Create GUI user guide
diff --git a/content/html/_sources/user_guide/20_sim_user_guide.rst.txt b/content/html/_sources/user_guide/10_overview.rst.txt
similarity index 62%
rename from content/html/_sources/user_guide/20_sim_user_guide.rst.txt
rename to content/html/_sources/user_guide/10_overview.rst.txt
index 549b249..3f41944 100644
--- a/content/html/_sources/user_guide/20_sim_user_guide.rst.txt
+++ b/content/html/_sources/user_guide/10_overview.rst.txt
@@ -1,200 +1,163 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-Simulation User Guide
-======================
-
-.. admonition:: Before we start...
-
- The official Working Group website of |op_oss| (https://openpass.eclipse.org/) offers a lot of information, well suited for beginners.
-
-
-|Op| is a tool for executing a traffic based Monte-Carlo simulation and provides capabilities for the following two levels of variation:
-
-#. **Experiment:** Topmost, an experiment defines the domains of possible inputs, which shall be compared, such as *"traffic at high volume"* with *"traffic at low volume"*.
- In this sense, a parameter variation is done at a very coarse level, resulting in two sets of inputs.
- Note that this level is covered by the GUI (see :ref:`gui_user_guide`).
-
-#. **Invocation:** When an input-set is available, |op| invokes a defined number of runs, resulting in a probabilistic sampling of the given state under parameterizable conditions.
- For example, in the aforementioned situation *"traffic at high volume"*, it would generate participants at *"lower speeds"* and *"smaller gaps"*.
- Thereby parameterizable means, that the user has the freedom to define probabilities defining *"lower speed"* and *"smaller gaps"*.
- In each invocation, |op| samples from these probabilities to generate a possible traffic situation under the given parameter variation.
-
-This guide primarily covers the aspect of the second tier, describing the parts an input-set and the expected output.
-
-Intended Audience
------------------
-
-This manual serves as an entry point for users who have an operational simulator at hand (see :ref:`sim_install_guide`) and want to carry out (first) experiments at the invocation level (*GUI-less mode*).
-In this sense, it primarily tackles how input-sets are composed, their interdependencies and, finally, the generated outputs.
-
-.. image:: sim_user_guide/_static/images/workflow.png
- :alt: |op| Workflow
-
-This image shows the *GUI-less* workflow, starting with the input-set, bundled together in a folder typically named ``configs``.
-The ``core``, executed manually by the experimenter, processes these configs and generates an (configurable) output-set typically placed in a folder named ``results``.
-Thereby, the **Simulation Output** is again a set of files.
-
-Primer
-------
-
-In the following the input and output sets are described with respect to the intended audience.
-For detailed information please refer to the "in-depth" documentation of the individual files.
-
-Inputs
-~~~~~~
-
-The input is focused around the following files, with decreasing importance for the current audience.
-
-- **Scenario**
-
- This file describes the overall situation in terms of the **ASAM OpenSCENARIO 1.0** standard.
- This includes placement of cars, the story (what happens when), how long the simulation will run.
-
- On top it contains links to additionally needed files, where the following might need modification with respect to the current audience:
-
- - **Scenery** (``*.xosc``)
-
- The **scenery** file, which follows the **ASAM OpenDRIVE 1.6** standard, describes the world in which the experiment runs, such as a highway, or a parking lot.
- As such, it contains the description of the road network and any static object, such as traffic signs or obstacles.
-
- - **ProfilesCatalog** (``*.xml``)
-
- This catalog describes the profiles of moving participants and are the probabilistic heart of the simulation.
- A profile could be a **MiddleClassCar**, and describes which components could be available with what probability.
- Such components could be ADAS's or sensors and as such, their parametrization is also found here.
-
- .. note:: As **OpenSCENARIO** does not support probabilities (yet), this file is not conform to the standard.
-
- - **VehiclesCatalog** and **PedestriansCatalog**: (``*.xosc``)
-
- These catalogs, also based on **OpenSCENARIO**, describes the physical parameters of available vehicles or pedestrians, respectively.
-
- .. note::
-
- Historically, the referenced files have carry an additional *Model* in the filename: ``VehicleModelsCatalog.xosc`` and ``PedestrianModelsCatalog.xosc``
-
-- **SlaveConfig** (``slaveConfig.xml``)
-
- This is the entry point for the simulation, containing the setup of the core, such as active observers, reference to the scenario, the initial random seed, and the number or invocations.
-
- .. note::
-
- This file is normally of limited interest.
- Yet, some variations, such as *environmental conditions* are historically placed in here and not in the scenario description.
- It is therefore recommended to study the contents of this file.
-
-- **SystemConfigBlueprint** (``systemConfigBlueprint.xml``)
-
- This file is contains a superset of all possible *components* and their valid connections.
- Such components can be lateral and longitudinal controllers, assistance systems, prioritizers, driver models, and so on.
- Depending on the configured profiles and their probabilities, the core picks a subset of components to create one complete *system*.
-
- .. warning:: This file should not be changed without the proper (developer) expertise.
-
- .. note::
-
- Instead of using an overall blueprint, concrete (static) systems can be specified using the same format.
- These files are simply referred to as ``SystemConfig`` files.
-
-Some components need their own input files (e.g. a configuration).
-It is convention to put these files also into the ``configs`` folder, which is internally provided as path to the components.
-This helps to keep experiments separated.
-
-Outputs
-~~~~~~~
-
-Outputs are generated by individual observers, configured by the **SlaveConfig**, and collected within the folder `results`.
-This section describes the output files by the :ref:`observation_log`, as configured by the provided example configurations.
-
-Please refer to the documentation of the individual observers and files for more details.
-
-- **Simulation Output** (``simulationOutput.xml``)
-
- This file acts as central entry point for further evaluation, such as the visualization.
- It contains central information about all executed invocations within an experiment, such as the executed scenario and the run results, which can be seen as current values from the random sampling of the given probabilities.
- As such, each run result contains, a list of participating moving entities (also referred to as agents), events related to the entities, such as collisions or activation of ADAS's, and a reference to the *cyclics file*.
-
- .. note:: This file **does not** contain information about the actual position of agents.
-
-- **Cyclic Output** (``Cyclics_Run_###.csv``)
-
- This file contains the ground truth information for each agent at each time step.
- For each invocation, a new file is generated (starting with ``Cyclics_Run_000.csv`` and referenced in the according run results in the ``simulationOutput.xml``.
-
- .. note:: This file **does not** contain information about the interaction between agents.
-
-.. note::
-
- The core generates a file called ``LogSlave.txt`` at the execution path, which logs errors and warnings.
- If the simulation behaves strange or did not produce any output, check this file.
-
-
-Component View
-~~~~~~~~~~~~~~
-
-|Op| is divided into components, which can be roughly divided into **core components** and **model components**.
-The most interesting core components are the individual **spawners**, which are responsible for populating the world in a realistic fashion.
-Model components are again roughly divided into **drivers** and **vehicle components** and represent how an individual participant is composed.
-
-.. note::
-
- There are several additional components acting in the background, making sure things work as they should.
- As a guideline, components parameterized through the **ProfilesCatalog** are scope of this guide, others not.
-
-.. todo:: Move Inputs, Outputs, and Components to their own master section
-
-Inputs in Depth
----------------
-
-As described in the primer above, not all inputs might be of interest for the targeted audience.
-Yet, for completeness, all potential input files shall be described here in detail.
-
-.. toctree::
- :glob:
- :maxdepth: 1
-
- sim_user_guide/input/*
-
-Outputs in Depth
-----------------
-
-As described in the primer above, simulation outputs are generated by the corresponding observers.
-In the following, all potential outputs are described, grouped by the corresponding observers.
-
-.. toctree::
- :glob:
- :maxdepth: 3
-
- sim_user_guide/output/*
-
-.. _simuserguide_components:
-
-Components in Depth
--------------------
-
-In the following, all available components are described.
-
-.. toctree::
- :glob:
- :maxdepth: 3
-
- sim_user_guide/components/*
-
-Use Cases Examples
-------------------
-
-.. toctree::
- :glob:
- :maxdepth: 1
-
- sim_user_guide/examples/*
-
+..
+ *******************************************************************************
+ Copyright (c) 2021 ITK Engineering GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _user_guide_overview:
+
+Overview
+========
+
+.. admonition:: Before we start...
+
+ The official Working Group website of |op_oss| (https://openpass.eclipse.org/) offers a lot of information, well suited for beginners.
+
+Getting Started
+---------------
+
+This chapter provides insights on openPASS and how to work with the simulation.
+The following step-by-step guides are included to guide you through your first simulations with openPASS:
+
+ * Scenario-based Simulation: traffic simulation based on OpenSCENARIO description
+ * PCM Simulation: crash re-simulation based on GIDAS record
+
+In particular, it is presented how to go through the required steps until a simulation can be run successfully.
+To enhance the guiding, there are going to be examples in every section.
+It is important to mention that openPASS is still in progress and e. g. some plugins and options have not been fully implemented yet.
+
+Intended Audience
+-----------------
+
+This manual serves as an entry point for users who have an operational simulator at hand (see :ref:`sim_install_guide`) and want to carry out (first) experiments at the invocation level (*GUI-less mode*).
+In this sense, it primarily tackles how input-sets are composed, their interdependencies and, finally, the generated outputs.
+
+.. image:: sim_user_guide/_static/images/workflow.png
+ :alt: |op| Workflow
+
+This image shows the *GUI-less* workflow, starting with the input-set, bundled together in a folder typically named ``configs``.
+The ``core``, executed manually by the experimenter, processes these configs and generates an (configurable) output-set typically placed in a folder named ``results``.
+Thereby, the **Simulation Output** is again a set of files.
+
+
+Interaction GUI and Framework
+-----------------------------
+
+.. image:: gui_user_guide/_static/images/plugin/gui_framework_overview.png
+
+The GUI sits on top of the simulation framework. It produces configuration files for the framework based on the User Input.
+With these files, the GUI can trigger the simulation to start und produce results in form of different files.
+These files can then be read evaluated by the GUI.
+
+Workflow
+--------
+
+A typical workflow can be:
+
+ 1. Configure systems and agents
+ 2. Configure the simulation
+ 3. Run the simulation
+ 4. Evaluate the simulation results
+ 5. Close the loop by continuing with your next simulation
+
+.. _primer:
+
+Primer
+------
+
+In the following the input and output sets are described with respect to the intended audience.
+For detailed information please refer to the "in-depth" documentation of the individual files.
+
+Inputs
+^^^^^^
+
+The input is focused around the following files, with decreasing importance for the current audience.
+
+- **Scenario**
+
+ This file describes the overall situation in terms of the **ASAM OpenSCENARIO 1.0** standard.
+ This includes placement of cars, the story (what happens when), how long the simulation will run.
+
+ On top it contains links to additionally needed files, where the following might need modification with respect to the current audience:
+
+ - **Scenery** (``*.xosc``)
+
+ The **scenery** file, which follows the **ASAM OpenDRIVE 1.6** standard, describes the world in which the experiment runs, such as a highway, or a parking lot.
+ As such, it contains the description of the road network and any static object, such as traffic signs or obstacles.
+
+ - **ProfilesCatalog** (``*.xml``)
+
+ This catalog describes the profiles of moving participants and are the probabilistic heart of the simulation.
+ A profile could be a **MiddleClassCar**, and describes which components could be available with what probability.
+ Such components could be ADAS's or sensors and as such, their parametrization is also found here.
+
+ .. note:: As **OpenSCENARIO** does not support probabilities (yet), this file is not conform to the standard.
+
+ - **VehiclesCatalog** and **PedestriansCatalog**: (``*.xosc``)
+
+ These catalogs, also based on **OpenSCENARIO**, describes the physical parameters of available vehicles or pedestrians, respectively.
+
+ .. note::
+
+ Historically, the referenced files have carry an additional *Model* in the filename: ``VehicleModelsCatalog.xosc`` and ``PedestrianModelsCatalog.xosc``
+
+- **SimulationConfig** (``simulationConfig.xml``)
+
+ This is the entry point for the simulation, containing the setup of the core, such as active observers, reference to the scenario, the initial random seed, and the number or invocations.
+
+ .. note::
+
+ This file is normally of limited interest.
+ Yet, some variations, such as *environmental conditions* are historically placed in here and not in the scenario description.
+ It is therefore recommended to study the contents of this file.
+
+- **SystemConfigBlueprint** (``systemConfigBlueprint.xml``)
+
+ This file is contains a superset of all possible *components* and their valid connections.
+ Such components can be lateral and longitudinal controllers, assistance systems, prioritizers, driver models, and so on.
+ Depending on the configured profiles and their probabilities, the core picks a subset of components to create one complete *system*.
+
+ .. warning:: This file should not be changed without the proper (developer) expertise.
+
+ .. note::
+
+ Instead of using an overall blueprint, concrete (static) systems can be specified using the same format.
+ These files are simply referred to as ``SystemConfig`` files.
+
+Some components need their own input files (e.g. a configuration).
+It is convention to put these files also into the ``configs`` folder, which is internally provided as path to the components.
+This helps to keep experiments separated.
+
+Outputs
+^^^^^^^
+
+Outputs are generated by individual observers, configured by the **SimulationConfig**, and collected within the folder `results`.
+This section describes the output files by the :ref:`observation_log`, as configured by the provided example configurations.
+
+Please refer to the documentation of the individual observers and files for more details.
+
+- **Simulation Output** (``simulationOutput.xml``)
+
+ This file acts as central entry point for further evaluation, such as the visualization.
+ It contains central information about all executed invocations within an experiment, such as the executed scenario and the run results, which can be seen as current values from the random sampling of the given probabilities.
+ As such, each run result contains, a list of participating moving entities (also referred to as agents), events related to the entities, such as collisions or activation of ADAS's, and a reference to the *cyclics file*.
+
+ .. note:: This file **does not** contain information about the actual position of agents.
+
+- **Cyclic Output** (``Cyclics_Run_###.csv``)
+
+ This file contains the ground truth information for each agent at each time step.
+ For each invocation, a new file is generated (starting with ``Cyclics_Run_000.csv`` and referenced in the according run results in the ``simulationOutput.xml``.
+
+ .. note:: This file **does not** contain information about the interaction between agents.
+
+.. note::
+
+ The core generates a file called ``opSimulation.log`` at the execution path, which logs errors and warnings.
+ If the simulation behaves strange or did not produce any output, check this file.
+
diff --git a/content/html/_sources/user_guide/20_tutorials.rst.txt b/content/html/_sources/user_guide/20_tutorials.rst.txt
new file mode 100644
index 0000000..40c3daf
--- /dev/null
+++ b/content/html/_sources/user_guide/20_tutorials.rst.txt
@@ -0,0 +1,21 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _tutorials:
+
+Tutorials
+=========
+
+.. toctree::
+ :glob:
+ :maxdepth: 1
+
+ tutorials/*
diff --git a/content/html/_sources/user_guide/30_gui_plugins.rst.txt b/content/html/_sources/user_guide/30_gui_plugins.rst.txt
new file mode 100644
index 0000000..ddd7fc5
--- /dev/null
+++ b/content/html/_sources/user_guide/30_gui_plugins.rst.txt
@@ -0,0 +1,27 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ 2021 ITK Engineering GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _gui_plugins:
+
+GUI Plugins
+===========================
+
+.. toctree::
+ :glob:
+ :maxdepth: 1
+
+ gui_user_guide/*
+
+Additionally, the following plugins are currently work in progress:
+
+ * agentConfiguration
+ * trafficSimulation
diff --git a/content/html/_sources/user_guide/40_configs_in_depth.rst.txt b/content/html/_sources/user_guide/40_configs_in_depth.rst.txt
new file mode 100644
index 0000000..4915f56
--- /dev/null
+++ b/content/html/_sources/user_guide/40_configs_in_depth.rst.txt
@@ -0,0 +1,26 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+
+.. _configs_in_depth:
+
+Configs in Depth
+================
+
+As described in the :ref:`primer`, not all inputs might be of interest for the targeted audience.
+Yet, for completeness, all potential input files shall be described here in detail.
+
+.. toctree::
+ :glob:
+ :maxdepth: 1
+
+ configs/*
diff --git a/content/html/_sources/user_guide/50_outputs_in_depth.rst.txt b/content/html/_sources/user_guide/50_outputs_in_depth.rst.txt
new file mode 100644
index 0000000..18624c8
--- /dev/null
+++ b/content/html/_sources/user_guide/50_outputs_in_depth.rst.txt
@@ -0,0 +1,26 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+
+.. _outputs_in_depth:
+
+Outputs in Depth
+================
+
+As described in the :ref:`primer`, simulation outputs are generated by the corresponding observers.
+In the following, all potential outputs are described, grouped by the corresponding observers.
+
+.. toctree::
+ :glob:
+ :maxdepth: 1
+
+ outputs/*
diff --git a/content/html/_sources/user_guide/60_scenario_simulation.rst.txt b/content/html/_sources/user_guide/60_scenario_simulation.rst.txt
new file mode 100644
index 0000000..e451b53
--- /dev/null
+++ b/content/html/_sources/user_guide/60_scenario_simulation.rst.txt
@@ -0,0 +1,23 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _sim_user_guide:
+
+Simulator
+=========
+
+
+.. toctree::
+ :glob:
+ :maxdepth: 3
+
+ sim_user_guide/*
+
diff --git a/content/html/_sources/user_guide/sim_user_guide/input/profilescatalog.rst.txt b/content/html/_sources/user_guide/configs/profilescatalog.rst.txt
similarity index 81%
rename from content/html/_sources/user_guide/sim_user_guide/input/profilescatalog.rst.txt
rename to content/html/_sources/user_guide/configs/profilescatalog.rst.txt
index 36e933f..fc1aff6 100644
--- a/content/html/_sources/user_guide/sim_user_guide/input/profilescatalog.rst.txt
+++ b/content/html/_sources/user_guide/configs/profilescatalog.rst.txt
@@ -1,305 +1,336 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _profilescatalog:
-
-ProfilesCatalog
-===============
-
-The ProfilesCatalog contains all AgentProfiles, VehicleProfiles and generic ProfileGroups and Profiles.
-Depending on the configuration the simulator could require a "Driver"-ProfileGroup, a "Spawner"- and "TrafficGroup"-ProfileGroup, or sensor and vehiclecomponent specific ProfileGroups.
-
-* :ref:`profilescatalog_agentprofiles`
-* :ref:`profilescatalog_vehicleprofiles`
-* :ref:`profilescatalog_profilegroups`
-* :ref:`profilescatalog_driverprofiles`
-* :ref:`profilescatalog_vehiclecomponentprofiles`
-* :ref:`profilescatalog_spawnerprofiles`
-
-.. _profilescatalog_agentprofiles:
-
-AgentProfiles
--------------
-
-In this section all AgentProfiles are defined.
-An AgentProfile is either static or dynamic.
-A static AgentProfile consists of a SystemConfig and a VehicleModel.
-A dynamic AgentProfile specifies the composition of the agent according to certain probabilities.
-Here the initial driver and the vehicle profile of an agent get specified.
-At least one AgentProfile is required.
-But every AgentProfile referenced in the used :ref:`scenario` file or :ref:`components_trafficgroups` must exist.
-All probabilities must add up to 1.0.
-
-Composition of a static AgentProfile:
-
-+-----------------+-----------------------------------------------------------------------+-----------+
-| Tag | Description | Required |
-+=================+=======================================================================+===========+
-| System | Reference to a system defined in a SystemConfig | Yes |
-+-----------------+-----------------------------------------------------------------------+-----------+
-| VehicleModel | Name of the VehicleModel in the :ref:`scenario_vehiclemodels` | Yes |
-+-----------------+-----------------------------------------------------------------------+-----------+
-
-Composition of a dynamic AgentProfile:
-
-+-----------------+---------------------------------------------------------------------------------+--------------------+
-| Tag | Description | Required |
-+=================+=================================================================================+====================+
-| DriverProfiles | List of :ref:`profilescatalog_driverprofiles` for random selection | At least one entry |
-+-----------------+---------------------------------------------------------------------------------+--------------------+
-| VehicleProfiles | List of :ref:`profilescatalog_vehicleprofiles` for random selection | At least one entry |
-+-----------------+---------------------------------------------------------------------------------+--------------------+
-
-Example
-~~~~~~~
-
-In this experiment the ego agent is defined by the system with Id 0 in systemConfig.xml and the VehicleModel car_bmw_7.
-Every LuxuryClassCarAgent has the driver profile "AgentFollowingDriver".
-Regarding the vehicle profile 50% have a MINI Cooper and the other 50% drive a BMW 7.
-
-.. code-block:: xml
-
- <AgentProfiles>
- <AgentProfile Name="EgoAgent" Type="Static">
- <System>
- <File>systemConfig.xml</File>
- <Id>0</Id>
- </System>
- <VehicleModel>car_bmw_7</VehicleModel>
- </AgentProfile>
- <AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
- <DriverProfiles>
- <DriverProfile Name="AgentFollowingDriver" Probability="1.0"/>
- </DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="MINI Cooper" Probability="0.5"/>
- <VehicleProfile Name="BMW 7" Probability="0.5"/>
- </VehicleProfiles>
- </AgentProfile>
- </AgentProfiles>
-
-.. _profilescatalog_vehicleprofiles:
-
-VehicleProfiles
----------------
-
-This sections contains all vehicle profiles.
-Every VehicleProfile used by :ref:`profilescatalog_agentprofiles` must be listed here.
-
-.. code-block:: xml
-
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7">
- <Model Name="car_bmw_7"/>
- <Components>
- <Component Type="AEB">
- <Profiles>
- <Profile Name="AebProfile" Probability="0.5"/>
- </Profiles>
- <SensorLinks>
- <SensorLink SensorId="0" InputId="Camera"/>
- </SensorLinks>
- </Component>
- </Components>
- <Sensors>
- <Sensor Id="0">
- <Position Name="Default" Longitudinal="0.0" Lateral="0.0" Height="0.5" Pitch="0.0" Yaw="0.0" Roll="0.0"/>
- <Profile Type="Geometric2D" Name="Standard"/>
- </Sensor>
- </Sensors>
- </VehicleProfile>
- ...
- </VehicleProfiles>
-
-+-------------+--------------------------------------------------------+
-| Attribute | Description |
-+=============+========================================================+
-| Name | Name of the vehicle profile |
-+-------------+--------------------------------------------------------+
-| Components | Lists all ADAS and other components in the vehicle |
-+-------------+--------------------------------------------------------+
-| Sensors | Lists all sensors in the vehicle |
-+-------------+--------------------------------------------------------+
-
-.. _profilescatalog_components:
-
-Components
-~~~~~~~~~~
-
-+-------------+-------------------------------------------------------------------------------------------------+
-| Attribute | Description |
-+=============+=================================================================================================+
-| Type | Type of the component. |
-| | |
-| | Must match component name in SystemConfigBlueprint |
-+-------------+-------------------------------------------------------------------------------------------------+
-| Profile | Possible profiles of the component with probabilities. |
-| | |
-| | The profiles are defined in the :ref:`profilescatalog_vehiclecomponentprofiles` section |
-| | |
-| | Probabilities do not need to add up to 1. |
-+-------------+-------------------------------------------------------------------------------------------------+
-| SensorLinks | Defines which sensor this component uses as input |
-+-------------+-------------------------------------------------------------------------------------------------+
-
-.. note:: The possibility of "not having that component" can be achieved if the probabilities of the profiles do not add up to 1.
-
-.. _profilescatalog_sensors:
-
-Sensors
-~~~~~~~
-
-+-------------+-------------------------------------------------------------------------------------------------+
-| Attribute | Description |
-+=============+=================================================================================================+
-| Id | Identifier for the sensor used by the SensorLink definition of the components |
-+-------------+-------------------------------------------------------------------------------------------------+
-| Position | Position of the sensor in the vehicle in relative coordinates |
-+-------------+-------------------------------------------------------------------------------------------------+
-| Profile | All possible profiles of the sensor with probabilities. |
-| | |
-| | The profiles are defined in the :ref:`profilescatalog_vehiclecomponentprofiles` section |
-+-------------+-------------------------------------------------------------------------------------------------+
-
-.. _profilescatalog_profilegroups:
-
-ProfileGroups
--------------
-
-A ProfileGroup defines all the possible profiles of a component.
-A single profile is a set of parameters that are passed to the component in the same way as the parameters in the SystemConfig.
-Note: For components that have their parameters defined in the ProfilesCatalog the parameters in the SystemConfigBlueprint are ignored.
-Parameters can either be simple or stochastic.
-Simple parameters only have one value, while stochastic parameters have a minimum and maximum value as well as distribution specific parameters.
-Which parameters are needed/supported depends on the component.
-
-.. code-block:: xml
-
- <ProfileGroup Type="ComponentName">
- <Profile Name="ExampleProfile">
- <String Key="StringParameter" Value="Lorem ipsum"/>
- <DoubleVector Key="DoubleParameter" Value="12.3,4.56,78.9"/>
- <NormalDistribution Key="RandomParameter" Mean="4.5" SD="0.5" Min="3.5" Max="10.0"/>
- </Profile>
- <Profile Name="AnotherProfile">
- ...
- </Profile>
- </ProfileGroup>
-
-There are the following types of simple parameters:
-
-* Bool
-* Int
-* Double
-* String
-* IntVector
-* DoubleVector
-* StringVector
-
-If a parameter is stochastic it can be defined as any to be drawn from any of the following distributions:
-
-+-------------------------+--------------------------------------------------+
-| Distribution | Additional Attributes |
-+=========================+==================================================+
-| NormalDistribution | (Mean and SD) or (Mu and Sigma) - equivalent |
-+-------------------------+--------------------------------------------------+
-| LogNormalDistribution | (Mean and SD) or (Mu and Sigma) - not equivalent |
-+-------------------------+--------------------------------------------------+
-| UniformDistribution | None |
-+-------------------------+--------------------------------------------------+
-| ExponentialDistribution | Lambda or Mean (Mean = 1 / Lambda) |
-+-------------------------+--------------------------------------------------+
-| GammaDistribution | (Mean and SD) or (Shape and Scale) |
-+-------------------------+--------------------------------------------------+
-
-Additionally there is the list type.
-The list contains any number of list items which itself contain a list of parameters.
-Lists can be nested at most two times.
-
-.. code-block:: xml
-
- <List Name="ExampleList">
- <ListItem>
- <String Key="FirstParameter" Value="Lorem"/>
- <Double Key="SecondParameter" Value="0.4"/>
- </ListItem>
- <ListItem>
- <String Key="FirstParameter" Value="ipsum"/>
- <Double Key="SecondParameter" Value="0.6"/>
- </ListItem>
- </List>
-
-
-A Profile can also reference another Profile in another ProfileGroup.
-In these case the importer handles the reference as if it was substituted by all subelements of the referenced Profile.
-References may not be nested.
-
-.. code-block:: xml
-
- <Reference Type="GroupType" Name="ProfileName"/>
-
-
-.. _profilescatalog_driverprofiles:
-
-Driver ProfileGroup
--------------------
-
-This section contains all driver profiles used by the simulation.
-At least one driver profile is required.
-The special parameter "Type" defines the name of the component (i.e. library name).
-For details on the indivual parameters see the :ref:`components reference <components_driver>`.
-
-.. code-block:: xml
-
- <ProfileGroup Type="Driver">
- <Profile Name="Name">
- <String Key="Type" Value="DriverLibrary"/>
- ...
- </Profile>
- ...
- </ProfileGroup>
-
-
-.. _profilescatalog_vehiclecomponentprofiles:
-
-VehicleComponent ProfileGroups
-------------------------------
-
-This sections contains all driver assistance systems and other vehicle components and their parameter sets.
-For every used VehicleComponent type there must be a ProfileGroup with this type and every profile of this type used by :ref:`profilescatalog_vehicleprofiles` must be listed here.
-For details on the indivual parameters see the :ref:`components reference <components_vehiclecomponents>`.
-
-.. code-block:: xml
-
- <ProfileGroup Type="LibraryName">
- <Profile Name="Name">
- ...
- </Profile>
- ...
- </ProfileGroup>
-
-
-.. _profilescatalog_spawnerprofiles:
-
-SpawnerProfile ProfileGroup
----------------------------
-
-This sections contains all parameters of the spawners referenced in the :ref:`slaveconfig`.
-For details on the indivual parameters see the :ref:`components reference <components_spawner>`.
-
-.. code-block:: xml
-
- <ProfileGroup Type="Spawner">
- <Profile Name="Name">
- ...
- </Profile>
- ...
- </ProfileGroup>
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _profilescatalog:
+
+ProfilesCatalog
+===============
+
+The ProfilesCatalog contains all AgentProfiles, VehicleProfiles and generic ProfileGroups and Profiles.
+Depending on the configuration the simulator could require a "Driver"-ProfileGroup, a "Spawner"- and "TrafficGroup"-ProfileGroup, a "TrafficRules"-ProfileGroup or sensor and vehiclecomponent specific ProfileGroups.
+
+* :ref:`profilescatalog_agentprofiles`
+* :ref:`profilescatalog_vehicleprofiles`
+* :ref:`profilescatalog_profilegroups`
+* :ref:`profilescatalog_driverprofiles`
+* :ref:`profilescatalog_vehiclecomponentprofiles`
+* :ref:`profilescatalog_spawnerprofiles`
+* :ref:`profilescatalog_trafficrulesprofiles`
+
+.. _profilescatalog_agentprofiles:
+
+AgentProfiles
+-------------
+
+In this section all AgentProfiles are defined.
+An AgentProfile is either static or dynamic.
+A static AgentProfile consists of a SystemConfig and a VehicleModel.
+A dynamic AgentProfile specifies the composition of the agent according to certain probabilities.
+Here the initial driver and the vehicle profile of an agent get specified.
+At least one AgentProfile is required.
+But every AgentProfile referenced in the used :ref:`scenario` file or :ref:`components_trafficgroups` must exist.
+All probabilities must add up to 1.0.
+
+Composition of a static AgentProfile:
+
++-----------------+-----------------------------------------------------------------------+-----------+
+| Tag | Description | Required |
++=================+=======================================================================+===========+
+| System | Reference to a system defined in a SystemConfig | Yes |
++-----------------+-----------------------------------------------------------------------+-----------+
+| VehicleModel | Name of the VehicleModel in the :ref:`scenario_vehiclemodels` | Yes |
++-----------------+-----------------------------------------------------------------------+-----------+
+
+Composition of a dynamic AgentProfile:
+
++-----------------+---------------------------------------------------------------------------------+--------------------+
+| Tag | Description | Required |
++=================+=================================================================================+====================+
+| DriverProfiles | List of :ref:`profilescatalog_driverprofiles` for random selection | At least one entry |
++-----------------+---------------------------------------------------------------------------------+--------------------+
+| VehicleProfiles | List of :ref:`profilescatalog_vehicleprofiles` for random selection | At least one entry |
++-----------------+---------------------------------------------------------------------------------+--------------------+
+
+Example
+~~~~~~~
+
+In this experiment the ego agent is defined by the system with Id 0 in systemConfig.xml and the VehicleModel car_bmw_7.
+Every LuxuryClassCarAgent has the driver profile "AgentFollowingDriver".
+Regarding the vehicle profile 50% have a MINI Cooper and the other 50% drive a BMW 7.
+
+.. code-block:: xml
+
+ <AgentProfiles>
+ <AgentProfile Name="EgoAgent" Type="Static">
+ <System>
+ <File>systemConfig.xml</File>
+ <Id>0</Id>
+ </System>
+ <VehicleModel>car_bmw_7</VehicleModel>
+ </AgentProfile>
+ <AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
+ <DriverProfiles>
+ <DriverProfile Name="AgentFollowingDriver" Probability="1.0"/>
+ </DriverProfiles>
+ <VehicleProfiles>
+ <VehicleProfile Name="MINI Cooper" Probability="0.5"/>
+ <VehicleProfile Name="BMW 7" Probability="0.5"/>
+ </VehicleProfiles>
+ </AgentProfile>
+ </AgentProfiles>
+
+.. _profilescatalog_vehicleprofiles:
+
+VehicleProfiles
+---------------
+
+This sections contains all vehicle profiles.
+Every VehicleProfile used by :ref:`profilescatalog_agentprofiles` must be listed here.
+
+.. code-block:: xml
+
+ <VehicleProfiles>
+ <VehicleProfile Name="BMW 7">
+ <Model Name="car_bmw_7"/>
+ <Components>
+ <Component Type="AEB">
+ <Profiles>
+ <Profile Name="AebProfile" Probability="0.5"/>
+ </Profiles>
+ <SensorLinks>
+ <SensorLink SensorId="0" InputId="Camera"/>
+ </SensorLinks>
+ </Component>
+ </Components>
+ <Sensors>
+ <Sensor Id="0">
+ <Position Name="Default" Longitudinal="0.0" Lateral="0.0" Height="0.5" Pitch="0.0" Yaw="0.0" Roll="0.0"/>
+ <Profile Type="Geometric2D" Name="Standard"/>
+ </Sensor>
+ </Sensors>
+ </VehicleProfile>
+ ...
+ </VehicleProfiles>
+
++-------------+--------------------------------------------------------+
+| Attribute | Description |
++=============+========================================================+
+| Name | Name of the vehicle profile |
++-------------+--------------------------------------------------------+
+| Components | Lists all ADAS and other components in the vehicle |
++-------------+--------------------------------------------------------+
+| Sensors | Lists all sensors in the vehicle |
++-------------+--------------------------------------------------------+
+
+.. _profilescatalog_components:
+
+Components
+~~~~~~~~~~
+
++-------------+-------------------------------------------------------------------------------------------------+
+| Attribute | Description |
++=============+=================================================================================================+
+| Type | Type of the component. |
+| | |
+| | Must match component name in SystemConfigBlueprint |
++-------------+-------------------------------------------------------------------------------------------------+
+| Profile | Possible profiles of the component with probabilities. |
+| | |
+| | The profiles are defined in the :ref:`profilescatalog_vehiclecomponentprofiles` section |
+| | |
+| | Probabilities do not need to add up to 1. |
++-------------+-------------------------------------------------------------------------------------------------+
+| SensorLinks | Defines which sensor this component uses as input |
++-------------+-------------------------------------------------------------------------------------------------+
+
+.. note:: The possibility of "not having that component" can be achieved if the probabilities of the profiles do not add up to 1.
+
+.. _profilescatalog_sensors:
+
+Sensors
+~~~~~~~
+
++-------------+-------------------------------------------------------------------------------------------------+
+| Attribute | Description |
++=============+=================================================================================================+
+| Id | Identifier for the sensor used by the SensorLink definition of the components |
++-------------+-------------------------------------------------------------------------------------------------+
+| Position | Position of the sensor in the vehicle in relative coordinates |
++-------------+-------------------------------------------------------------------------------------------------+
+| Profile | All possible profiles of the sensor with probabilities. |
+| | |
+| | The profiles are defined in the :ref:`profilescatalog_vehiclecomponentprofiles` section |
++-------------+-------------------------------------------------------------------------------------------------+
+
+.. _profilescatalog_profilegroups:
+
+ProfileGroups
+-------------
+
+A ProfileGroup defines all the possible profiles of a component.
+A single profile is a set of parameters that are passed to the component in the same way as the parameters in the SystemConfig.
+Note: For components that have their parameters defined in the ProfilesCatalog the parameters in the SystemConfigBlueprint are ignored.
+Parameters can either be simple or stochastic.
+Simple parameters only have one value, while stochastic parameters have a minimum and maximum value as well as distribution specific parameters.
+Which parameters are needed/supported depends on the component.
+
+.. code-block:: xml
+
+ <ProfileGroup Type="ComponentName">
+ <Profile Name="ExampleProfile">
+ <String Key="StringParameter" Value="Lorem ipsum"/>
+ <DoubleVector Key="DoubleParameter" Value="12.3,4.56,78.9"/>
+ <NormalDistribution Key="RandomParameter" Mean="4.5" SD="0.5" Min="3.5" Max="10.0"/>
+ </Profile>
+ <Profile Name="AnotherProfile">
+ ...
+ </Profile>
+ </ProfileGroup>
+
+There are the following types of simple parameters:
+
+* Bool
+* Int
+* Double
+* String
+* IntVector
+* DoubleVector
+* StringVector
+
+If a parameter is stochastic it can be defined as any to be drawn from any of the following distributions:
+
++-------------------------+--------------------------------------------------+
+| Distribution | Additional Attributes |
++=========================+==================================================+
+| NormalDistribution | (Mean and SD) or (Mu and Sigma) - equivalent |
++-------------------------+--------------------------------------------------+
+| LogNormalDistribution | (Mean and SD) or (Mu and Sigma) - not equivalent |
++-------------------------+--------------------------------------------------+
+| UniformDistribution | None |
++-------------------------+--------------------------------------------------+
+| ExponentialDistribution | Lambda or Mean (Mean = 1 / Lambda) |
++-------------------------+--------------------------------------------------+
+| GammaDistribution | (Mean and SD) or (Shape and Scale) |
++-------------------------+--------------------------------------------------+
+
+Additionally there is the list type.
+The list contains any number of list items which itself contain a list of parameters.
+Lists can be nested at most two times.
+
+.. code-block:: xml
+
+ <List Name="ExampleList">
+ <ListItem>
+ <String Key="FirstParameter" Value="Lorem"/>
+ <Double Key="SecondParameter" Value="0.4"/>
+ </ListItem>
+ <ListItem>
+ <String Key="FirstParameter" Value="ipsum"/>
+ <Double Key="SecondParameter" Value="0.6"/>
+ </ListItem>
+ </List>
+
+
+A Profile can also reference another Profile in another ProfileGroup.
+In these case the importer handles the reference as if it was substituted by all subelements of the referenced Profile.
+References may not be nested.
+
+.. code-block:: xml
+
+ <Reference Type="GroupType" Name="ProfileName"/>
+
+
+.. _profilescatalog_driverprofiles:
+
+Driver ProfileGroup
+-------------------
+
+This section contains all driver profiles used by the simulation.
+At least one driver profile is required.
+The special parameter "Type" defines the name of the component (i.e. library name).
+For details on the indivual parameters see the :ref:`components reference <components_driver>`.
+
+.. code-block:: xml
+
+ <ProfileGroup Type="Driver">
+ <Profile Name="Name">
+ <String Key="Type" Value="DriverLibrary"/>
+ ...
+ </Profile>
+ ...
+ </ProfileGroup>
+
+
+.. _profilescatalog_vehiclecomponentprofiles:
+
+VehicleComponent ProfileGroups
+------------------------------
+
+This sections contains all driver assistance systems and other vehicle components and their parameter sets.
+For every used VehicleComponent type there must be a ProfileGroup with this type and every profile of this type used by :ref:`profilescatalog_vehicleprofiles` must be listed here.
+For details on the indivual parameters see the :ref:`components reference <components_vehiclecomponents>`.
+
+.. code-block:: xml
+
+ <ProfileGroup Type="LibraryName">
+ <Profile Name="Name">
+ ...
+ </Profile>
+ ...
+ </ProfileGroup>
+
+
+.. _profilescatalog_spawnerprofiles:
+
+SpawnerProfile ProfileGroup
+---------------------------
+
+This sections contains all parameters of the spawners referenced in the :ref:`simulationconfig`.
+For details on the indivual parameters see the :ref:`components reference <components_spawner>`.
+
+.. code-block:: xml
+
+ <ProfileGroup Type="Spawner">
+ <Profile Name="Name">
+ ...
+ </Profile>
+ ...
+ </ProfileGroup>
+
+
+.. _profilescatalog_trafficrulesprofiles:
+
+TrafficRules ProfileGroup
+-------------------------
+
+This sections contains the global traffic rules, that may vary depending on the country.
+The :ref:`simulationconfig_environment` section in the SimulationConfig defines which set is used.
+Currently there are only rules regulating highway traffic. These are the following:
+
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+| Name | Type | Description |
++===========================+=========+=====================================================================================================================+
+| OpenSpeedLimit | Double | maximum allowed speed if not restricted by signs |
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+| KeepToOuterLanes | Bool | if true, vehicles must use the outermost free lane for driving |
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+| DontOvertakeOnOuterLanes | Bool | if true, it is prohibited to overtake another vehicle, that is driving further left (or right for lefthand traffic) |
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+| FormRescueLane | Bool | if true, vehicles driving in a traffic jam must form a corridor for emergency vehicles |
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+| ZipperMerge | Bool | if true all merging shall be performed using zipper merge |
++---------------------------+---------+---------------------------------------------------------------------------------------------------------------------+
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
+ :language: xml
+ :start-at: <ProfileGroup Type="TrafficRules">
+ :end-at: </ProfileGroup>
+
diff --git a/content/html/_sources/user_guide/sim_user_guide/input/scenario.rst.txt b/content/html/_sources/user_guide/configs/scenario.rst.txt
similarity index 92%
rename from content/html/_sources/user_guide/sim_user_guide/input/scenario.rst.txt
rename to content/html/_sources/user_guide/configs/scenario.rst.txt
index 3c53ed9..5946e77 100644
--- a/content/html/_sources/user_guide/sim_user_guide/input/scenario.rst.txt
+++ b/content/html/_sources/user_guide/configs/scenario.rst.txt
@@ -1,815 +1,815 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _scenario:
-
-Scenario
-========
-
-.. _scenario_overview:
-
-Overview
---------
-
-The scenario configuration file describes all dynamic configuration of a simulation run, i.e. the position of an agent as well as conditional events that alter the behavior of the simulation during the run.
-It adheres to the **ASAM OpenSCENARIO 1.0** standard, although we support only a subset of the features of the standard.
-
-The different parts of the scenario configuration are described in the following chapters.
-
-.. _scenario_parameterdeclaration:
-
-ParameterDeclarations
----------------------
-
-The tag ``ParameterDeclarations`` allow to define generic parameters, which can be referenced later the file by its name, prefixed with ``$``.
-
-**Example declaration**
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/Scenario.xosc
- :language: xml
- :dedent: 2
- :start-at: <ParameterDeclarations>
- :end-at: </ParameterDeclarations>
-
-**Example usage**
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/Scenario.xosc
- :language: xml
- :dedent: 12
- :start-at: <SimulationTime
- :lines: 1
-
-**Supported parameterTypes**
-
-- string
-- integer
-- double
-
-.. note:: Only ``string`` allows empty values.
-
-.. warning::
-
- The parameter ``OP_OSC_SchemaVersion`` is used to check for schema compatibility and is mandatory within |op|.
-
-.. _scenario_catalogs:
-
-Catalogs
---------
-
-The ``Catalogs`` tag defines references to various other files containing sub features of OpenSCENARIO (and written in the same format).
-
-The following catalogs interpreted:
-
-- Mandatory: :ref:`scenario_vehiclemodels`
-- Mandatory: :ref:`scenario_pedestrianmodels`
-- Optional: TrajectoryCatalog for the case that a *FollowTrajectory action* is defined
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/Scenario.xosc
- :language: xml
- :dedent: 2
- :start-at: <CatalogLocations>
- :end-at: </CatalogLocations>
-
-.. _scenario_vehiclemodels:
-
-VehicleCatalog
-~~~~~~~~~~~~~~
-
-This file is mandatory.
-It contains the available vehicle models for the simulation.
-For each vehicle the physical parameters are stored here.
-
-**Supported models:**
-
-- car_bmw_i3
-- car_bmw_3
-- car_bmw_7_1
-- car_bmw_7_2
-- car_mini_cooper
-- bus
-- truck
-- bicycle
-
-**Full Example:** :download:`/../../../sim/contrib/examples/DefaultConfigurations/VehicleModelsCatalog.xosc`
-
-.. _scenario_pedestrianmodels:
-
-PedestrianCatalog
-~~~~~~~~~~~~~~~~~
-
-This file is mandatory.
-It contains the available pedestrian models for the simulation.
-For each pedestrian the physical parameters are stored here.
-
-.. note::
-
- Currently, pedestrian models are internally handled the same way as vehicle models, i.e. they behave like simplified vehicles.
- For convenience, |op| internally sets *meaningless* parameters, such as *number of gears*, to operational defaults.
-
-**Supported models:**
-
-- pedestrian_child
-- pedestrian_adult
-
-**Full Example:** :download:`/../../../sim/contrib/examples/DefaultConfigurations/PedestrianModelsCatalog.xosc`
-
-.. _scenario_roadnetwork:
-
-RoadNetwork
------------
-
-The ``RoadNetwork`` tag contains the mandatory reference to the OpenDRIVE :ref:`scenery`.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/Scenario.xosc
- :language: xml
- :dedent: 2
- :start-at: <RoadNetwork>
- :end-at: </RoadNetwork>
-
-.. _scenario_entities:
-
-Entities
---------
-
-The ``Entities`` tag defines all agents that are present at the start of the simulation at predefined positions.
-There may be any number of these so called **Scenario Agents** (also zero).
-Each entity is described by a name and a reference to a vehicle profile within the :ref:`profilescatalog`.
-
-.. note:: This deviates from the OpenSCENARIO standard.
-
-.. todo:: In what way do scenario agents deviate from the standard?
-
-To specify an entity as the **Ego Agent**, the it must be named "Ego".
-
-Entities can also be grouped into selections.
-
-.. todo:: What is an EntitySelection?
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/Scenario.xosc
- :language: xml
- :dedent: 2
- :start-at: <Entities>
- :end-at: </Entities>
-
-**Overriding Parameters**
-
-Parameters defined in the VehicleCatalog can be assigned inside the CatalogReference element.
-In this case the assigned parameter will overwrite the definition in the VehicleCatalog.
-Otherwise the value defined in the VehicleCatalog is used.
-The type of the parameter must match that in the VehicleCatalog.
-
-**Example**
-
-.. code-block:: xml
-
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent">
- <ParameterAssignments>
- <ParameterAssignment parameterRef="Length" value="4.0" />
- </ParameterAssignments>
- </CatalogReference>
-
-.. admonition:: AgentProfile vs. VehicleModel
-
- |Op| references AgentProfiles instead of a VehicleModels.
- Such an AgentProfile may have a stochastic distribution of different VehicleModels, each with potentially different parameters.
- After the random selection of the vehicle model, some parameters may not be available and are therefore not assigned (ignored).
-
-.. _scenario_storyboard:
-
-Storyboard
-----------
-
-The ``Storyboard`` tag contains the initial setup of the scenario and manipulator actions.
-These actions control the behavior of the simulation at runtime based on predefined conditions.
-
-.. _scenario_init:
-
-Init
-~~~~
-
-The content of the ``Init`` tag is forwarded to the SpawnPoint and define *if* and *where* it should place the ego and scenario agents.
-The position can either be defined as global coordinates (x and y) with the ``World`` tag or as lane coordinates (s and t) with the ``Lane`` tag.
-
-The schema is defined as follows:
-
-.. table::
- :class: tight-table
-
- ==================== =================== ========================= ==============
- Tag Parent Attributes Occurrences
- ==================== =================== ========================= ==============
- Actions Init *none* 1
- Private Actions entityRef 1 per entity
- PrivateAction Private *none* 1+
- TeleportAction PrivateAction *none* 1
- Position TeleportAction *none* 1
- LanePosition Position roadId, laneId, s, offset 0 or 1
- WorldPosition Position x, y, h 0 or 1
- Orientation LanePosition type, h 0 or 1
- LongitudinalAction PrivateAction *none* 1
- SpeedAction LongitudinalAction *none* 1
- SpeedActionDynamics SpeedAction rate, dynamicsShape 1
- SpeedActionTarget SpeedAction *none* 1
- AbsoluteTargetSpeed SpeedActionTarget value 1
- RoutingAction PrivateAction *none* 0 or 1
- AssignRouteAction RoutingAction *none* 1
- Route AssignRouteAction *none* 1
- Waypoint Route *none* 1+
- Position Waypoint *none* 1
- RoadPosition Position roadId, t 1
- VisibilityAction PrivateAction traffic 1
- ==================== =================== ========================= ==============
-
-All listed attributes are required.
-The attributes have the following meaning:
-
-.. table::
- :class: tight-table
-
- ==================== ================== ============================================================================================
- Tag Attribute Description
- ==================== ================== ============================================================================================
- Private entityRef name of the entity for which the initial values are described in the sub-tags
- LanePosition roadId Id of the road in the Scenery
- LanePosition laneId Id of the lane in the Scenery
- LanePosition s start position on the lane (i.e. distance from the start of the road) of the reference point
- LanePosition offset lateral distance of the reference point to the middle of the road (i.e. t coordinate)
- WorldPosition x x coordinate of the reference point
- WorldPosition y y coordinate of the reference point
- WorldPosition h heading
- Orientation type has to be "relative"
- Orientation h heading angle in radiant relative to the lane
- SpeedActionDynamics rate acceleration
- SpeedActionDynamics dynamicsShape "linear" for constant acceleration, "step" for immediate transition
- SpeedActionDynamics dynamicsDimension has to be "rate"
- AbsoluteTargetSpeed value velocity
- RoadPosition roadId Id of the road in the Scenery
- RoadPosition t negative for driving in roadDirection (i.e on lanes with negative Id) else positive
- RoadPosition s ignored
- VisibilityAction traffic Flag deciding if the scenario agent will be spawned (true = spawned, false = not spawned)
- ==================== ================== ============================================================================================
-
-**Defining a Position**
-
-|Op| only supports ``LanePosition`` and ``WorldPosition`` from the OpenSCENARIO standard.
-
-**Controlling Visibility**
-
-VisibilityAction is an optional attribute, which allows easy parameterization of certain entities, e.g. via :ref:`scenario_parameterdeclaration`.
-
-.. note:: If VisibilityAction **is not defined** the according entity agent **will be spawned**.
-
-**Stochastic Values**
-
-Unlike OpenSCENARIO, |op| allows some of the aforementioned values to be stochastic.
-This is achieved by using the sub-tag ``Stochastics`` within the tags ``LanePosition`` or ``SpeedAction``:
-
-.. code-block:: xml
-
- <Stochastics value="..." stdDeviation="..." lowerBound="..." upperBound="..."/>
-
-The stochastics tag normally defines a normal distribution, but it is up to each component to interpret its values.
-Here, value is a selector, which can be either ``s``, ``offset`` (if inside LanePosition), ``velocity`` or ``rate`` (if inside SpeedAction).
-Depending on the selected type, the actual mean value is then taken from the attribute of the corresponding tag ``LanePosition``, ``SpeedActionDynamics``, or ``AbsoluteTargetSpeed``.
-
-**Full Example**
-
-.. code-block:: xml
-
- <Init>
- <Actions>
- <Private entityRef="Ego">
- <PrivateAction>
- <TeleportAction>
- <Position>
- <LanePosition roadId="1" s="20.0" laneId="-2" offset="0.0">
- <Orientation type="relative" h="0.2"/>
- <Stochastics value="s" stdDeviation="5.0" lowerBound="10.0"
- upperBound="30.0"/>
- </LanePosition>
- </Position>
- </TeleportAction>
- </PrivateAction>
- <PrivateAction>
- <LongitudinalAction>
- <SpeedAction>
- <SpeedActionDynamics rate="0.0" dynamicsShape="linear"
- dynamicsDimension="rate"/>
- <SpeedActionTarget>
- <AbsoluteTargetSpeed value="10.0" />
- </SpeedActionTarget>
- <Stochastics value="velocity" stdDeviation="2.0" lowerBound="5.0"
- upperBound="15.0"/>
- </SpeedAction>
- </LongitudinalAction>
- </PrivateAction>
- <PrivateAction>
- <RoutingAction>
- <AssignRouteAction>
- <Route>
- <Waypoint>
- <Position>
- <RoadPosition roadId="1" t="-1.0" s="0"/>
- </Position>
- </Waypoint>
- <Waypoint>
- <Position>
- <RoadPosition roadId="2" t="-1.0" s="0"/>
- </Position>
- </Waypoint>
- </Route>
- </AssignRouteAction>
- </RoutingAction>
- </PrivateAction>
- </Private>
- <Private entityRef="ScenarioAgent">
- <PrivateAction>
- <TeleportAction>
- <Position>
- <LanePosition roadId="1" s="50.0" laneId="-3" offset="0.0"/>
- </Position>
- </TeleportAction>
- </PrivateAction>
- <PrivateAction>
- <LongitudinalAction>
- <SpeedAction>
- <SpeedActionDynamics rate="0.0" dynamicsShape="linear"
- dynamicsDimension="rate"/>
- <SpeedActionTarget>
- <AbsoluteTargetSpeed value="10.0" />
- </SpeedActionTarget>
- </SpeedAction>
- </LongitudinalAction>
- </PrivateAction>
- </Private>
- </Actions>
- </Init>
-
-.. _scenario_story:
-
-Story
-~~~~~
-
-The tag ``Story`` is optional and defines all conditional interventions during runtime.
-The story consists of multiple acts, which itself can consist of multiple ``ManeuverGroup`` tags.
-A maneuver groups must consist of exactly one ``Actors`` tag and one ``Maneuver`` tag.
-The ``maximumExecutionCount`` attribute states the maximum number of times that each maneuver will by triggered.
-To trigger an maneuver for an unlimited number of times, set the value to ``-1,``.
-
-.. note:: While multiple stories can be added, grouping of maneuver groups into acts currently has no effect in the simulator.
-
-**Example**
-
-.. code-block:: xml
-
- <Story name="MyStory">
- <Act name="Act1">
- <ManeuverGroup name="MySequence" maximumExecutionCount="-1">
- <Actors>
- ...
- </Actors>
- <Maneuver name="MyManeuver">
- ...
- </Maneuver>
- </ManeuverGroup>
- </Act>
- </Story>
-
-.. _scenario_actors:
-
-Actors
-******
-
-The ``Actors`` tag defines the agents that are mainly affected by this sequence.
-These agents can either be defined directly by stating their name within a sub-tag ``<EntityRef entityRef="entityName"/>`` or as the agent that triggered the event itself via ``<Actors selectTriggeringEntities="true"/>``.
-
-.. _scenario_maneuver:
-
-Maneuver
-********
-
-The ``Maneuver`` tag defines the conditions, when an action shall take place.
-It contains one or more events, each consisting of **one** action and **one or more** start conditions.
-
-.. note:: Only a single action is currently supported, although the standard allows several.
-
-.. warning:: Due to internal handling, event names must be unique.
-
-**Example**
-
-.. code-block:: xml
-
- <Maneuver name="MyManeuver">
- <Event name="MyEvent" priority="overwrite">
- <Action name="MyManipulator">
- ...
- </Action>
- <StartTrigger>
- <ConditionGroup>
- <Condition name="Conditional">
- ...
- </Condition>
- </ConditionGroup>
- </StartTrigger>
- </Event>
- </Maneuver>
-
-.. _scenario_conditions:
-
-Conditions
-""""""""""
-
-|Op| support different kind of conditions, belonging either to ``ByValueCondition`` or ``ByEntityCondition``.
-While a **by value condition** trigger based on a specified value and is unrelated to any specific agent, a **by entity condition** is bound to an triggering agent, defined by a mandatory section ``TriggeringEntities``.
-Entities can be either ego or scenario agents, or all agents if the section is left blank.
-
-.. note::
-
- OpenSCENARIO specifies that a rule should be applied to the ``TriggeringEntities`` element.
- Currently, only the rule ``any`` is supported, so any of the listed entities may satisfy the condition independent of the others.
-
-.. table::
-
- ==================================== ==============
- Condition Triggered By
- ==================================== ==============
- :ref:`scenario_simulationtime` Value
- :ref:`scenario_relativelaneposition` Entity
- :ref:`scenario_roadposition` Entity
- :ref:`scenario_relativelaneposition` Entity
- :ref:`scenario_relativespeed` Entity
- :ref:`scenario_timetocollision` Entity
- :ref:`scenario_timeheadway` Entity
- ==================================== ==============
-
-.. _scenario_simulationtime:
-
-SimulationTime
-++++++++++++++
-
-Defines, when the simulation ends.
-Triggers at a specified time value, given in seconds.
-The rule is required and only ``greaterThan`` is currently supported.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/Scenario.xosc
- :language: xml
- :dedent: 8
- :start-at: <Condition name="EndTime"
- :end-at: </Condition>
-
-.. _scenario_relativelaneposition:
-
-RelativeLanePosition
-++++++++++++++++++++
-
-Triggers if an entity is within a relative lane position with respect to the specified object.
-Here, *ds* (s-delta) and *dLane* (lane-delta) are applied to a reference *object*, e.g. ``referenceEntity.s + ds``.
-The tolerance is then added and subtracted from the resulting s-coordinate to form a triggering zone.
-The condition is satisfied, if a TriggeringEntity touches this zone.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/Scenario.xosc
- :language: xml
- :dedent: 18
- :start-at: <Condition name="RelativeLanePosition">
- :end-at: </Condition>
-
-.. _scenario_roadposition:
-
-RoadPosition
-++++++++++++
-
-This Condition evaluates if a TriggeringEntity touches a given s-coordinate, *s*, on a specified road, given by *roadId*.
-Note that the tolerance is added and subtracted from the s-coordinate to form a triggering zone.
-The condition is satisfied, if a TriggeringEntity touches this zone.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/Scenario.xosc
- :language: xml
- :dedent: 18
- :start-at: <Condition name="RoadPosition">
- :end-at: </Condition>
-
-.. _scenario_relativespeed:
-
-RelativeSpeed
-+++++++++++++
-
-This condition evaluates if the relative velocity (:math:`v_{rel}`) between a TriggeringEntity and a reference entity, is *lessThan*, *equalTo*, or *greaterThan*, a specified value, where :math:`v_{rel} = v_{trig} - v_{ref}`.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/Scenario.xosc
- :language: xml
- :dedent: 18
- :start-at: <Condition name="RelativeSpeed">
- :end-at: </Condition>
-
-.. _scenario_timetocollision:
-
-TimeToCollision
-+++++++++++++++
-
-This condition evaluates if the *Time To Collision* (TTC) between a TriggeringEntity and a reference entity is *lessThan*, *equalTo*, or *greaterThan* a specified value.
-The TTC is determined by projecting the movement of the entities using steps of 0.1 seconds and returning the first time step, at which their bounding boxes intersect.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/Scenario.xosc
- :language: xml
- :dedent: 18
- :start-at: <Condition name="TimeToCollision">
- :end-at: </Condition>
-
-.. _scenario_timeheadway:
-
-TimeHeadway
-+++++++++++
-
-This condition evaluates if the *Time Headway* (THW) between a TriggeringEntity and a reference entity is *lessThan*, *equalTo*, or *greaterThan* a specified value.
-If ``freespace="true"`` the net distance of the bounding boxes is considered, otherwise the distance of the reference points.
-The ``alongRoute`` attribute must be ``true``.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/Scenario.xosc
- :language: xml
- :dedent: 18
- :start-at: <Condition name="TimeHeadway">
- :end-at: </Condition>
-
-.. _scenario_actions:
-
-Actions
-"""""""
-
-Actions define what happens if all conditions of the maneuver are fulfilled and are applied on the actors defined for this maneuver.
-
-The following openSCENARIO actions are supported:
-
-- :ref:`scenario_lanechange`
-- :ref:`scenario_followtrajectory`
-- :ref:`scenario_acquireposition`
-- :ref:`scenario_removeagent`
-- :ref:`scenario_speedaction`
-
-In addition, the following user defined actions are interpreted:
-
-- :ref:`scenario_componentstatechange`
-- :ref:`scenario_defaultCustomCommandAction`
-
-
-.. todo:: Write a paragraph about the concept "Trajectories, OSC Actions, and so" in the developer zone.
-
-.. _scenario_lanechange:
-
-LaneChange
-++++++++++
-
-If this action trigger, the actor is forced to perform a trajectory, calculated at the time of triggering.
-The target lane be given either absolute or with respect to another entity.
-The trajectory can either have a fixed length (in s) or a fixed time.
-
-Currently, "sinusoidal" is the only supported type.
-
-**Example** *with absolute target and fixed length*
-
-.. literalinclude:: /../../../sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/Scenario.xosc
- :language: xml
- :dedent: 14
- :start-at: <Action name="LaneChange">
- :end-at: </Action>
-
-**Example** *with relative target and fixed time*
-
-.. literalinclude:: /../../../sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/Scenario.xosc
- :language: xml
- :dedent: 14
- :start-at: <Action name="LaneChange">
- :end-at: </Action>
-
-.. _scenario_followtrajectory:
-
-Follow Trajectory
-+++++++++++++++++
-
-If triggered, the defined trajectory is relayed as signal to listening components.
-The trajectory can be defined either directly in the story or as separate TrajectoryCatalog.
-For the points (vertices) of the trajectory only world coordinates, given as ``openScenario::WorldPosition``, are supported.
-Right now, the mandatory attributes *z*, *pitch* and *roll* are ignored.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/Configurations/Pedestrian_Trajectory/Scenario.xosc
- :language: xml
- :dedent: 14
- :start-at: <Action name="Trajectory">
- :end-at: </Action>
-
-**Example** *using a TrajectoryCatalog*
-
-.. code-block:: xml
-
- <Action name="FollowTrajectory">
- <Private>
- <Routing>
- <FollowTrajectoryAction>
- <CatalogReference catalogName="TrajectoryCatalog.xosc" entryName="TrajectoryA">
- </FollowTrajectoryAction>
- </Routing>
- </Private>
- </Action>
-
-
-.. _scenario_acquireposition:
-
-Acquire Position
-++++++++++++++++
-
-If triggered, the defined position is relayed as signal to listening components.
-Currently only "WorldPosition" and "RelativeObjectPosition" are supported.
-
-.. warning: Currently, this is only the supported by the component *FMU_Wrapper* and for OSMP messages.
-
-**Example** *(WorldPosition)*
-
-.. code-block:: xml
-
- <Action name="AcquirePosition">
- <PrivateAction>
- <RoutingAction>
- <AcquirePositionAction>
- <Position>
- <WorldPosition x="1.0" y="2.0" z="0.0" h="3.1415" p="0.0" r="0.0" />
- </Position>
- </AcquirePositionAction>
- </RoutingAction>
- </PrivateAction>
- </Action>
-
-**Example** *(RelativeObjectPosition)*
-
-.. code-block:: xml
-
- <Action name="AcquirePosition">
- <PrivateAction>
- <RoutingAction>
- <AcquirePositionAction>
- <Position>
- <RelativeObjectPosition dx="1.0" dy="1.0" entityRef="S1"/>
- </Position>
- </AcquirePositionAction>
- </RoutingAction>
- </PrivateAction>
- </Action>
-
-.. _scenario_removeagent:
-
-Remove Agent
-++++++++++++
-
-The RemoveAgentsManipulator removes the specified entity at the time of triggering.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/Configurations/OSCAction_RemoveAgent/Scenario.xosc
- :language: xml
- :dedent: 14
- :start-at: <Action name="RemoveAgents">
- :end-at: </Action>
-
-.. _scenario_speedaction:
-
-SpeedAction
-+++++++++++
-
-The SpeedAction adjusts the velocity of an entity based on parameters of the SpeedAction.
-Both variants, "RelativeTargetSpeed" and "AbsoluteTargetSpeed", are supported, but with restrictions:
-
-- The SpeedActionDynamics attribute "dynamicsShape" only supports "linear" and "step".
-- The SpeedActionDynamics attribute "dynamicsDimension" only supports "rate".
-- The RelativeTargetSpeed attribute "continuous" is ignored.
-
-.. note::
-
- Values defined in the SpeedAction might not reflect actual values used by the simulator due to physical boundaries of the simulator.
-
-**Example** *AbsoulteTargetSpeed*
-
-.. code-block:: xml
-
- <Action name="SpeedAction">
- <PrivateAction>
- <LongitudinalAction>
- <SpeedAction>
- <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
- <SpeedActionTarget>
- <AbsoluteTargetSpeed value="20"/>
- </SpeedActionTarget>
- </SpeedAction>
- </LongitudinalAction>
- </PrivateAction>
- </Action>
-
-**Example** *RelativeTargetSpeed*
-
-.. code-block:: xml
-
- <Action name="SpeedAction">
- <PrivateAction>
- <LongitudinalAction>
- <SpeedAction>
- <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
- <SpeedActionTarget>
- <RelativeTargetSpeed entityRef="ScenarioAgent" value="10"
- speedTargetValueType="delta" continuous="false"/>
- </SpeedActionTarget>
- </SpeedAction>
- </LongitudinalAction>
- </PrivateAction>
- </Action>
-
-.. _scenario_defaultCustomCommandAction:
-
-UsedDefinedAction: DefaultCustomCommandAction
-+++++++++++++++++++++++++++++++++++++++++++++
-
-.. todo:: Write a paragraph in the developer zone about the concept "wrapping FMUs" and the "OSMP FMU"
-
-This is **the** default custom command, and is always selected, if **the first WORD** (Keyword) in the command string is **not** registered as a special custom command.
-
-The ``DefaultCustomCommandAction`` adds an event to the ``EventNetwork``, which is relayed as a string (``StringSignal``) by the component``OSCActions``.
-
-.. admonition:: FMU_Wrapper component for OSMP messages only
-
- The linked string signal is set as custom action of the TrafficCommand.
-
-**Example**
-
-.. code-block:: xml
-
- <Action name="CustomParameters">
- <UserDefinedAction>
- <CustomCommandAction>Arbitrary String, e.g. { "hello": "world"}</CustomCommandAction>
- </UserDefinedAction>
- </Action>
-
-.. note::
-
- Here, "Arbitrary" is first checked, if it matches any other available Keyword for used defined actions, such as :ref:`scenario_componentstatechange`.
-
-.. _scenario_componentstatechange:
-
-UserDefinedAction: Component State Change
-+++++++++++++++++++++++++++++++++++++++++
-
-Command Keyword: SetComponentState
-
-.. todo:: Write a paragraph in the developer zone about the concept "Component State Change"
-
-The ComponentStateChangeManipulator influences the maximum reachable state of an agent component that is handled by the ComponentController, i.e. it can either activate or deactivate a component.
-
-**Example**
-
-.. code-block:: xml
-
- <Action name="ComponentStateChange">
- <UserDefinedAction>
- <CustomCommandAction>SetComponentState Dynamics_TrajectoryFollower Acting</CustomCommandAction>
- </UserDefinedAction>
- </Action>
-
-.. _scenario_stoptrigger:
-
-StopTrigger
-~~~~~~~~~~~
-
-Here, end conditions for the simulation are defined.
-
-Right now, only SimulationTime is supported, given in seconds, with the fixed ``rule="greaterThan"``.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/Scenario.xosc
- :language: xml
- :dedent: 2
- :start-at: <StopTrigger>
- :end-at: </StopTrigger>
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _scenario:
+
+Scenario
+========
+
+.. _scenario_overview:
+
+Overview
+--------
+
+The scenario configuration file describes all dynamic configuration of a simulation run, i.e. the position of an agent as well as conditional events that alter the behavior of the simulation during the run.
+It adheres to the **ASAM OpenSCENARIO 1.0** standard, although we support only a subset of the features of the standard.
+
+The different parts of the scenario configuration are described in the following chapters.
+
+.. _scenario_parameterdeclaration:
+
+ParameterDeclarations
+---------------------
+
+The tag ``ParameterDeclarations`` allow to define generic parameters, which can be referenced later the file by its name, prefixed with ``$``.
+
+**Example declaration**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
+ :language: xml
+ :dedent: 2
+ :start-at: <ParameterDeclarations>
+ :end-at: </ParameterDeclarations>
+
+**Example usage**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
+ :language: xml
+ :dedent: 12
+ :start-at: <SimulationTime
+ :lines: 1
+
+**Supported parameterTypes**
+
+- string
+- integer
+- double
+
+.. note:: Only ``string`` allows empty values.
+
+.. warning::
+
+ The parameter ``OP_OSC_SchemaVersion`` is used to check for schema compatibility and is mandatory within |op|.
+
+.. _scenario_catalogs:
+
+Catalogs
+--------
+
+The ``Catalogs`` tag defines references to various other files containing sub features of OpenSCENARIO (and written in the same format).
+
+The following catalogs interpreted:
+
+- Mandatory: :ref:`scenario_vehiclemodels`
+- Mandatory: :ref:`scenario_pedestrianmodels`
+- Optional: TrajectoryCatalog for the case that a *FollowTrajectory action* is defined
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
+ :language: xml
+ :dedent: 2
+ :start-at: <CatalogLocations>
+ :end-at: </CatalogLocations>
+
+.. _scenario_vehiclemodels:
+
+VehicleCatalog
+~~~~~~~~~~~~~~
+
+This file is mandatory.
+It contains the available vehicle models for the simulation.
+For each vehicle the physical parameters are stored here.
+
+**Supported models:**
+
+- car_bmw_i3
+- car_bmw_3
+- car_bmw_7_1
+- car_bmw_7_2
+- car_mini_cooper
+- bus
+- truck
+- bicycle
+
+**Full Example:** :download:`/../../../repo/sim/contrib/examples/Common/VehicleModelsCatalog.xosc`
+
+.. _scenario_pedestrianmodels:
+
+PedestrianCatalog
+~~~~~~~~~~~~~~~~~
+
+This file is mandatory.
+It contains the available pedestrian models for the simulation.
+For each pedestrian the physical parameters are stored here.
+
+.. note::
+
+ Currently, pedestrian models are internally handled the same way as vehicle models, i.e. they behave like simplified vehicles.
+ For convenience, |op| internally sets *meaningless* parameters, such as *number of gears*, to operational defaults.
+
+**Supported models:**
+
+- pedestrian_child
+- pedestrian_adult
+
+**Full Example:** :download:`/../../../repo/sim/contrib/examples/Common/PedestrianModelsCatalog.xosc`
+
+.. _scenario_roadnetwork:
+
+RoadNetwork
+-----------
+
+The ``RoadNetwork`` tag contains the mandatory reference to the OpenDRIVE :ref:`scenery`.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
+ :language: xml
+ :dedent: 2
+ :start-at: <RoadNetwork>
+ :end-at: </RoadNetwork>
+
+.. _scenario_entities:
+
+Entities
+--------
+
+The ``Entities`` tag defines all agents that are present at the start of the simulation at predefined positions.
+There may be any number of these so called **Scenario Agents** (also zero).
+Each entity is described by a name and a reference to a vehicle profile within the :ref:`profilescatalog`.
+
+.. note:: This deviates from the OpenSCENARIO standard.
+
+.. todo:: In what way do scenario agents deviate from the standard?
+
+To specify an entity as the **Ego Agent**, the it must be named "Ego".
+
+Entities can also be grouped into selections.
+
+.. todo:: What is an EntitySelection?
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
+ :language: xml
+ :dedent: 2
+ :start-at: <Entities>
+ :end-at: </Entities>
+
+**Overriding Parameters**
+
+Parameters defined in the VehicleCatalog can be assigned inside the CatalogReference element.
+In this case the assigned parameter will overwrite the definition in the VehicleCatalog.
+Otherwise the value defined in the VehicleCatalog is used.
+The type of the parameter must match that in the VehicleCatalog.
+
+**Example**
+
+.. code-block:: xml
+
+ <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent">
+ <ParameterAssignments>
+ <ParameterAssignment parameterRef="Length" value="4.0" />
+ </ParameterAssignments>
+ </CatalogReference>
+
+.. admonition:: AgentProfile vs. VehicleModel
+
+ |Op| references AgentProfiles instead of a VehicleModels.
+ Such an AgentProfile may have a stochastic distribution of different VehicleModels, each with potentially different parameters.
+ After the random selection of the vehicle model, some parameters may not be available and are therefore not assigned (ignored).
+
+.. _scenario_storyboard:
+
+Storyboard
+----------
+
+The ``Storyboard`` tag contains the initial setup of the scenario and manipulator actions.
+These actions control the behavior of the simulation at runtime based on predefined conditions.
+
+.. _scenario_init:
+
+Init
+~~~~
+
+The content of the ``Init`` tag is forwarded to the SpawnPoint and define *if* and *where* it should place the ego and scenario agents.
+The position can either be defined as global coordinates (x and y) with the ``World`` tag or as lane coordinates (s and t) with the ``Lane`` tag.
+
+The schema is defined as follows:
+
+.. table::
+ :class: tight-table
+
+ ==================== =================== ========================= ==============
+ Tag Parent Attributes Occurrences
+ ==================== =================== ========================= ==============
+ Actions Init *none* 1
+ Private Actions entityRef 1 per entity
+ PrivateAction Private *none* 1+
+ TeleportAction PrivateAction *none* 1
+ Position TeleportAction *none* 1
+ LanePosition Position roadId, laneId, s, offset 0 or 1
+ WorldPosition Position x, y, h 0 or 1
+ Orientation LanePosition type, h 0 or 1
+ LongitudinalAction PrivateAction *none* 1
+ SpeedAction LongitudinalAction *none* 1
+ SpeedActionDynamics SpeedAction rate, dynamicsShape 1
+ SpeedActionTarget SpeedAction *none* 1
+ AbsoluteTargetSpeed SpeedActionTarget value 1
+ RoutingAction PrivateAction *none* 0 or 1
+ AssignRouteAction RoutingAction *none* 1
+ Route AssignRouteAction *none* 1
+ Waypoint Route *none* 1+
+ Position Waypoint *none* 1
+ RoadPosition Position roadId, t 1
+ VisibilityAction PrivateAction traffic 1
+ ==================== =================== ========================= ==============
+
+All listed attributes are required.
+The attributes have the following meaning:
+
+.. table::
+ :class: tight-table
+
+ ==================== ================== ============================================================================================
+ Tag Attribute Description
+ ==================== ================== ============================================================================================
+ Private entityRef name of the entity for which the initial values are described in the sub-tags
+ LanePosition roadId Id of the road in the Scenery
+ LanePosition laneId Id of the lane in the Scenery
+ LanePosition s start position on the lane (i.e. distance from the start of the road) of the reference point
+ LanePosition offset lateral distance of the reference point to the middle of the road (i.e. t coordinate)
+ WorldPosition x x coordinate of the reference point
+ WorldPosition y y coordinate of the reference point
+ WorldPosition h heading
+ Orientation type has to be "relative"
+ Orientation h heading angle in radiant relative to the lane
+ SpeedActionDynamics rate acceleration
+ SpeedActionDynamics dynamicsShape "linear" for constant acceleration, "step" for immediate transition
+ SpeedActionDynamics dynamicsDimension has to be "rate"
+ AbsoluteTargetSpeed value velocity
+ RoadPosition roadId Id of the road in the Scenery
+ RoadPosition t negative for driving in roadDirection (i.e on lanes with negative Id) else positive
+ RoadPosition s ignored
+ VisibilityAction traffic Flag deciding if the scenario agent will be spawned (true = spawned, false = not spawned)
+ ==================== ================== ============================================================================================
+
+**Defining a Position**
+
+|Op| only supports ``LanePosition`` and ``WorldPosition`` from the OpenSCENARIO standard.
+
+**Controlling Visibility**
+
+VisibilityAction is an optional attribute, which allows easy parameterization of certain entities, e.g. via :ref:`scenario_parameterdeclaration`.
+
+.. note:: If VisibilityAction **is not defined** the according entity agent **will be spawned**.
+
+**Stochastic Values**
+
+Unlike OpenSCENARIO, |op| allows some of the aforementioned values to be stochastic.
+This is achieved by using the sub-tag ``Stochastics`` within the tags ``LanePosition`` or ``SpeedAction``:
+
+.. code-block:: xml
+
+ <Stochastics value="..." stdDeviation="..." lowerBound="..." upperBound="..."/>
+
+The stochastics tag normally defines a normal distribution, but it is up to each component to interpret its values.
+Here, value is a selector, which can be either ``s``, ``offset`` (if inside LanePosition), ``velocity`` or ``rate`` (if inside SpeedAction).
+Depending on the selected type, the actual mean value is then taken from the attribute of the corresponding tag ``LanePosition``, ``SpeedActionDynamics``, or ``AbsoluteTargetSpeed``.
+
+**Full Example**
+
+.. code-block:: xml
+
+ <Init>
+ <Actions>
+ <Private entityRef="Ego">
+ <PrivateAction>
+ <TeleportAction>
+ <Position>
+ <LanePosition roadId="1" s="20.0" laneId="-2" offset="0.0">
+ <Orientation type="relative" h="0.2"/>
+ <Stochastics value="s" stdDeviation="5.0" lowerBound="10.0"
+ upperBound="30.0"/>
+ </LanePosition>
+ </Position>
+ </TeleportAction>
+ </PrivateAction>
+ <PrivateAction>
+ <LongitudinalAction>
+ <SpeedAction>
+ <SpeedActionDynamics rate="0.0" dynamicsShape="linear"
+ dynamicsDimension="rate"/>
+ <SpeedActionTarget>
+ <AbsoluteTargetSpeed value="10.0" />
+ </SpeedActionTarget>
+ <Stochastics value="velocity" stdDeviation="2.0" lowerBound="5.0"
+ upperBound="15.0"/>
+ </SpeedAction>
+ </LongitudinalAction>
+ </PrivateAction>
+ <PrivateAction>
+ <RoutingAction>
+ <AssignRouteAction>
+ <Route>
+ <Waypoint>
+ <Position>
+ <RoadPosition roadId="1" t="-1.0" s="0"/>
+ </Position>
+ </Waypoint>
+ <Waypoint>
+ <Position>
+ <RoadPosition roadId="2" t="-1.0" s="0"/>
+ </Position>
+ </Waypoint>
+ </Route>
+ </AssignRouteAction>
+ </RoutingAction>
+ </PrivateAction>
+ </Private>
+ <Private entityRef="ScenarioAgent">
+ <PrivateAction>
+ <TeleportAction>
+ <Position>
+ <LanePosition roadId="1" s="50.0" laneId="-3" offset="0.0"/>
+ </Position>
+ </TeleportAction>
+ </PrivateAction>
+ <PrivateAction>
+ <LongitudinalAction>
+ <SpeedAction>
+ <SpeedActionDynamics rate="0.0" dynamicsShape="linear"
+ dynamicsDimension="rate"/>
+ <SpeedActionTarget>
+ <AbsoluteTargetSpeed value="10.0" />
+ </SpeedActionTarget>
+ </SpeedAction>
+ </LongitudinalAction>
+ </PrivateAction>
+ </Private>
+ </Actions>
+ </Init>
+
+.. _scenario_story:
+
+Story
+~~~~~
+
+The tag ``Story`` is optional and defines all conditional interventions during runtime.
+The story consists of multiple acts, which itself can consist of multiple ``ManeuverGroup`` tags.
+A maneuver groups must consist of exactly one ``Actors`` tag and one ``Maneuver`` tag.
+The ``maximumExecutionCount`` attribute states the maximum number of times that each maneuver will by triggered.
+To trigger an maneuver for an unlimited number of times, set the value to ``-1,``.
+
+.. note:: While multiple stories can be added, grouping of maneuver groups into acts currently has no effect in the simulator.
+
+**Example**
+
+.. code-block:: xml
+
+ <Story name="MyStory">
+ <Act name="Act1">
+ <ManeuverGroup name="MySequence" maximumExecutionCount="-1">
+ <Actors>
+ ...
+ </Actors>
+ <Maneuver name="MyManeuver">
+ ...
+ </Maneuver>
+ </ManeuverGroup>
+ </Act>
+ </Story>
+
+.. _scenario_actors:
+
+Actors
+******
+
+The ``Actors`` tag defines the agents that are mainly affected by this sequence.
+These agents can either be defined directly by stating their name within a sub-tag ``<EntityRef entityRef="entityName"/>`` or as the agent that triggered the event itself via ``<Actors selectTriggeringEntities="true"/>``.
+
+.. _scenario_maneuver:
+
+Maneuver
+********
+
+The ``Maneuver`` tag defines the conditions, when an action shall take place.
+It contains one or more events, each consisting of **one** action and **one or more** start conditions.
+
+.. note:: Only a single action is currently supported, although the standard allows several.
+
+.. warning:: Due to internal handling, event names must be unique.
+
+**Example**
+
+.. code-block:: xml
+
+ <Maneuver name="MyManeuver">
+ <Event name="MyEvent" priority="overwrite">
+ <Action name="MyManipulator">
+ ...
+ </Action>
+ <StartTrigger>
+ <ConditionGroup>
+ <Condition name="Conditional">
+ ...
+ </Condition>
+ </ConditionGroup>
+ </StartTrigger>
+ </Event>
+ </Maneuver>
+
+.. _scenario_conditions:
+
+Conditions
+""""""""""
+
+|Op| support different kind of conditions, belonging either to ``ByValueCondition`` or ``ByEntityCondition``.
+While a **by value condition** trigger based on a specified value and is unrelated to any specific agent, a **by entity condition** is bound to an triggering agent, defined by a mandatory section ``TriggeringEntities``.
+Entities can be either ego or scenario agents, or all agents if the section is left blank.
+
+.. note::
+
+ OpenSCENARIO specifies that a rule should be applied to the ``TriggeringEntities`` element.
+ Currently, only the rule ``any`` is supported, so any of the listed entities may satisfy the condition independent of the others.
+
+.. table::
+
+ ==================================== ==============
+ Condition Triggered By
+ ==================================== ==============
+ :ref:`scenario_simulationtime` Value
+ :ref:`scenario_relativelaneposition` Entity
+ :ref:`scenario_roadposition` Entity
+ :ref:`scenario_relativelaneposition` Entity
+ :ref:`scenario_relativespeed` Entity
+ :ref:`scenario_timetocollision` Entity
+ :ref:`scenario_timeheadway` Entity
+ ==================================== ==============
+
+.. _scenario_simulationtime:
+
+SimulationTime
+++++++++++++++
+
+Defines, when the simulation ends.
+Triggers at a specified time value, given in seconds.
+The rule is required and only ``greaterThan`` is currently supported.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
+ :language: xml
+ :dedent: 8
+ :start-at: <Condition name="EndTime"
+ :end-at: </Condition>
+
+.. _scenario_relativelaneposition:
+
+RelativeLanePosition
+++++++++++++++++++++
+
+Triggers if an entity is within a relative lane position with respect to the specified object.
+Here, *ds* (s-delta) and *dLane* (lane-delta) are applied to a reference *object*, e.g. ``referenceEntity.s + ds``.
+The tolerance is then added and subtracted from the resulting s-coordinate to form a triggering zone.
+The condition is satisfied, if a TriggeringEntity touches this zone.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/Scenario.xosc
+ :language: xml
+ :dedent: 18
+ :start-at: <Condition name="RelativeLanePosition">
+ :end-at: </Condition>
+
+.. _scenario_roadposition:
+
+RoadPosition
+++++++++++++
+
+This Condition evaluates if a TriggeringEntity touches a given s-coordinate, *s*, on a specified road, given by *roadId*.
+Note that the tolerance is added and subtracted from the s-coordinate to form a triggering zone.
+The condition is satisfied, if a TriggeringEntity touches this zone.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/Scenario.xosc
+ :language: xml
+ :dedent: 18
+ :start-at: <Condition name="RoadPosition">
+ :end-at: </Condition>
+
+.. _scenario_relativespeed:
+
+RelativeSpeed
++++++++++++++
+
+This condition evaluates if the relative velocity (:math:`v_{rel}`) between a TriggeringEntity and a reference entity, is *lessThan*, *equalTo*, or *greaterThan*, a specified value, where :math:`v_{rel} = v_{trig} - v_{ref}`.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/Scenario.xosc
+ :language: xml
+ :dedent: 18
+ :start-at: <Condition name="RelativeSpeed">
+ :end-at: </Condition>
+
+.. _scenario_timetocollision:
+
+TimeToCollision
++++++++++++++++
+
+This condition evaluates if the *Time To Collision* (TTC) between a TriggeringEntity and a reference entity is *lessThan*, *equalTo*, or *greaterThan* a specified value.
+The TTC is determined by projecting the movement of the entities using steps of 0.1 seconds and returning the first time step, at which their bounding boxes intersect.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/Scenario.xosc
+ :language: xml
+ :dedent: 18
+ :start-at: <Condition name="TimeToCollision">
+ :end-at: </Condition>
+
+.. _scenario_timeheadway:
+
+TimeHeadway
++++++++++++
+
+This condition evaluates if the *Time Headway* (THW) between a TriggeringEntity and a reference entity is *lessThan*, *equalTo*, or *greaterThan* a specified value.
+If ``freespace="true"`` the net distance of the bounding boxes is considered, otherwise the distance of the reference points.
+The ``alongRoute`` attribute must be ``true``.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/Scenario.xosc
+ :language: xml
+ :dedent: 18
+ :start-at: <Condition name="TimeHeadway">
+ :end-at: </Condition>
+
+.. _scenario_actions:
+
+Actions
+"""""""
+
+Actions define what happens if all conditions of the maneuver are fulfilled and are applied on the actors defined for this maneuver.
+
+The following openSCENARIO actions are supported:
+
+- :ref:`scenario_lanechange`
+- :ref:`scenario_followtrajectory`
+- :ref:`scenario_acquireposition`
+- :ref:`scenario_removeagent`
+- :ref:`scenario_speedaction`
+
+In addition, the following user defined actions are interpreted:
+
+- :ref:`scenario_componentstatechange`
+- :ref:`scenario_defaultCustomCommandAction`
+
+
+.. todo:: Write a paragraph about the concept "Trajectories, OSC Actions, and so" in the developer zone.
+
+.. _scenario_lanechange:
+
+LaneChange
+++++++++++
+
+If this action trigger, the actor is forced to perform a trajectory, calculated at the time of triggering.
+The target lane be given either absolute or with respect to another entity.
+The trajectory can either have a fixed length (in s) or a fixed time.
+
+Currently, "sinusoidal" is the only supported type.
+
+**Example** *with absolute target and fixed length*
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/Scenario.xosc
+ :language: xml
+ :dedent: 14
+ :start-at: <Action name="LaneChange">
+ :end-at: </Action>
+
+**Example** *with relative target and fixed time*
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/Scenario.xosc
+ :language: xml
+ :dedent: 14
+ :start-at: <Action name="LaneChange">
+ :end-at: </Action>
+
+.. _scenario_followtrajectory:
+
+Follow Trajectory
++++++++++++++++++
+
+If triggered, the defined trajectory is relayed as signal to listening components.
+The trajectory can be defined either directly in the story or as separate TrajectoryCatalog.
+For the points (vertices) of the trajectory only world coordinates, given as ``openScenario::WorldPosition``, are supported.
+Right now, the mandatory attributes *z*, *pitch* and *roll* are ignored.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/Pedestrian_Trajectory/Scenario.xosc
+ :language: xml
+ :dedent: 14
+ :start-at: <Action name="Trajectory">
+ :end-at: </Action>
+
+**Example** *using a TrajectoryCatalog*
+
+.. code-block:: xml
+
+ <Action name="FollowTrajectory">
+ <Private>
+ <Routing>
+ <FollowTrajectoryAction>
+ <CatalogReference catalogName="TrajectoryCatalog.xosc" entryName="TrajectoryA">
+ </FollowTrajectoryAction>
+ </Routing>
+ </Private>
+ </Action>
+
+
+.. _scenario_acquireposition:
+
+Acquire Position
+++++++++++++++++
+
+If triggered, the defined position is relayed as signal to listening components.
+Currently only "WorldPosition" and "RelativeObjectPosition" are supported.
+
+.. warning: Currently, this is only the supported by the component *FMU_Wrapper* and for OSMP messages.
+
+**Example** *(WorldPosition)*
+
+.. code-block:: xml
+
+ <Action name="AcquirePosition">
+ <PrivateAction>
+ <RoutingAction>
+ <AcquirePositionAction>
+ <Position>
+ <WorldPosition x="1.0" y="2.0" z="0.0" h="3.1415" p="0.0" r="0.0" />
+ </Position>
+ </AcquirePositionAction>
+ </RoutingAction>
+ </PrivateAction>
+ </Action>
+
+**Example** *(RelativeObjectPosition)*
+
+.. code-block:: xml
+
+ <Action name="AcquirePosition">
+ <PrivateAction>
+ <RoutingAction>
+ <AcquirePositionAction>
+ <Position>
+ <RelativeObjectPosition dx="1.0" dy="1.0" entityRef="S1"/>
+ </Position>
+ </AcquirePositionAction>
+ </RoutingAction>
+ </PrivateAction>
+ </Action>
+
+.. _scenario_removeagent:
+
+Remove Agent
+++++++++++++
+
+The RemoveAgentsManipulator removes the specified entity at the time of triggering.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/Scenario.xosc
+ :language: xml
+ :dedent: 14
+ :start-at: <Action name="RemoveAgents">
+ :end-at: </Action>
+
+.. _scenario_speedaction:
+
+SpeedAction
++++++++++++
+
+The SpeedAction adjusts the velocity of an entity based on parameters of the SpeedAction.
+Both variants, "RelativeTargetSpeed" and "AbsoluteTargetSpeed", are supported, but with restrictions:
+
+- The SpeedActionDynamics attribute "dynamicsShape" only supports "linear" and "step".
+- The SpeedActionDynamics attribute "dynamicsDimension" only supports "rate".
+- The RelativeTargetSpeed attribute "continuous" is ignored.
+
+.. note::
+
+ Values defined in the SpeedAction might not reflect actual values used by the simulator due to physical boundaries of the simulator.
+
+**Example** *AbsoulteTargetSpeed*
+
+.. code-block:: xml
+
+ <Action name="SpeedAction">
+ <PrivateAction>
+ <LongitudinalAction>
+ <SpeedAction>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionTarget>
+ <AbsoluteTargetSpeed value="20"/>
+ </SpeedActionTarget>
+ </SpeedAction>
+ </LongitudinalAction>
+ </PrivateAction>
+ </Action>
+
+**Example** *RelativeTargetSpeed*
+
+.. code-block:: xml
+
+ <Action name="SpeedAction">
+ <PrivateAction>
+ <LongitudinalAction>
+ <SpeedAction>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionTarget>
+ <RelativeTargetSpeed entityRef="ScenarioAgent" value="10"
+ speedTargetValueType="delta" continuous="false"/>
+ </SpeedActionTarget>
+ </SpeedAction>
+ </LongitudinalAction>
+ </PrivateAction>
+ </Action>
+
+.. _scenario_defaultCustomCommandAction:
+
+UsedDefinedAction: DefaultCustomCommandAction
++++++++++++++++++++++++++++++++++++++++++++++
+
+.. todo:: Write a paragraph in the developer zone about the concept "wrapping FMUs" and the "OSMP FMU"
+
+This is **the** default custom command, and is always selected, if **the first WORD** (Keyword) in the command string is **not** registered as a special custom command.
+
+The ``DefaultCustomCommandAction`` adds an event to the ``EventNetwork``, which is relayed as a string (``StringSignal``) by the component``OSCActions``.
+
+.. admonition:: FMU_Wrapper component for OSMP messages only
+
+ The linked string signal is set as custom action of the TrafficCommand.
+
+**Example**
+
+.. code-block:: xml
+
+ <Action name="CustomParameters">
+ <UserDefinedAction>
+ <CustomCommandAction>Arbitrary String, e.g. { "hello": "world"}</CustomCommandAction>
+ </UserDefinedAction>
+ </Action>
+
+.. note::
+
+ Here, "Arbitrary" is first checked, if it matches any other available Keyword for used defined actions, such as :ref:`scenario_componentstatechange`.
+
+.. _scenario_componentstatechange:
+
+UserDefinedAction: Component State Change
++++++++++++++++++++++++++++++++++++++++++
+
+Command Keyword: SetComponentState
+
+.. todo:: Write a paragraph in the developer zone about the concept "Component State Change"
+
+The ComponentStateChangeManipulator influences the maximum reachable state of an agent component that is handled by the ComponentController, i.e. it can either activate or deactivate a component.
+
+**Example**
+
+.. code-block:: xml
+
+ <Action name="ComponentStateChange">
+ <UserDefinedAction>
+ <CustomCommandAction>SetComponentState Dynamics_TrajectoryFollower Acting</CustomCommandAction>
+ </UserDefinedAction>
+ </Action>
+
+.. _scenario_stoptrigger:
+
+StopTrigger
+~~~~~~~~~~~
+
+Here, end conditions for the simulation are defined.
+
+Right now, only SimulationTime is supported, given in seconds, with the fixed ``rule="greaterThan"``.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/Scenario.xosc
+ :language: xml
+ :dedent: 2
+ :start-at: <StopTrigger>
+ :end-at: </StopTrigger>
diff --git a/content/html/_sources/user_guide/sim_user_guide/input/scenery.rst.txt b/content/html/_sources/user_guide/configs/scenery.rst.txt
similarity index 65%
rename from content/html/_sources/user_guide/sim_user_guide/input/scenery.rst.txt
rename to content/html/_sources/user_guide/configs/scenery.rst.txt
index 3912fc8..1ae6ea4 100644
--- a/content/html/_sources/user_guide/sim_user_guide/input/scenery.rst.txt
+++ b/content/html/_sources/user_guide/configs/scenery.rst.txt
@@ -1,40 +1,40 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _scenery:
-
-Scenery
-=======
-
-This file describes the road network and all static objects of the road for the simulation run.
-It is structured according to the **ASAM OpenDRIVE 1.6** standard.
-
-The file name can be freely chosen, but needs to be properly referenced by the :ref:`scenario` within the tag :ref:`scenario_roadnetwork`.
-
-Restrictions
-------------
-
-If object definitions does not meet the openDRIVE or are not supported, the simulation is aborted.
-On top |op| adds some additional requirements to the attributes of objects:
-
-* length > 0
-* width > 0
-* radius == 0
-
-Objects, which do no meet these requirements are ignored.
-
-Full Example
-------------
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/SceneryConfiguration.xodr
- :language: xml
- :caption: SceneryConfiguration.xodr
- :linenos:
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _scenery:
+
+Scenery
+=======
+
+This file describes the road network and all static objects of the road for the simulation run.
+It is structured according to the **ASAM OpenDRIVE 1.6** standard.
+
+The file name can be freely chosen, but needs to be properly referenced by the :ref:`scenario` within the tag :ref:`scenario_roadnetwork`.
+
+Restrictions
+------------
+
+If object definitions does not meet the openDRIVE or are not supported, the simulation is aborted.
+On top |op| adds some additional requirements to the attributes of objects:
+
+* length > 0
+* width > 0
+* radius == 0
+
+Objects, which do no meet these requirements are ignored.
+
+Full Example
+------------
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/SceneryConfiguration.xodr
+ :language: xml
+ :caption: SceneryConfiguration.xodr
+ :linenos:
diff --git a/content/html/_sources/user_guide/sim_user_guide/input/slaveconfig.rst.txt b/content/html/_sources/user_guide/configs/simulationconfig.rst.txt
similarity index 75%
rename from content/html/_sources/user_guide/sim_user_guide/input/slaveconfig.rst.txt
rename to content/html/_sources/user_guide/configs/simulationconfig.rst.txt
index be714cd..5e34c03 100644
--- a/content/html/_sources/user_guide/sim_user_guide/input/slaveconfig.rst.txt
+++ b/content/html/_sources/user_guide/configs/simulationconfig.rst.txt
@@ -1,188 +1,189 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _slaveconfig:
-
-SlaveConfig
-===========
-
-.. todo: Write a nicer introduction for the slaveconfig, similar to "Overview" section in scenery
-
-This file describes the user configurable parameters of an experiment.
-Several parameters depend on probabilities.
-Each invocation then rolls for said probabilities.
-All probabilities need to add up to 1.0.
-
-The slaveConfig.xml consists of the following sections:
-
-* :ref:`slaveconfig_profilescatalog`
-* :ref:`slaveconfig_experiment`
-* :ref:`slaveconfig_scenario`
-* :ref:`slaveconfig_environment`
-* :ref:`slaveconfig_observations`
-* :ref:`slaveconfig_spawners`
-
-.. _slaveconfig_profilescatalog:
-
-ProfilesCatalog
----------------
-
-Specifies the :ref:`profilescatalog` for the experiment.
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/slaveConfig.xml
- :language: xml
- :start-at: <ProfilesCatalog>
- :end-at: </ProfilesCatalog>
-
-.. _slaveconfig_experiment:
-
-Experiment
-----------
-
-Specifies the general experiment setup, not specific to a single invocation.
-
-.. table::
- :class: tight-table
-
- ===================== ================================================== =========
- Tag Description Mandatory
- ===================== ================================================== =========
- ExperimentId Id of the experiment yes
- NumberOfInvocations Number of invocation in the experiment.
- For each invocation probabilities are rerolled. yes
- RandomSeed Random seed for the entire experiment.
- Must be within the bounds of an unsigned integer. yes
- Libraries Name of the core module Libraries to use.
- If not specified the default name is assumed. yes
- ===================== ================================================== =========
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/slaveConfig.xml
- :language: xml
- :start-at: <Experiment>
- :end-at: </Experiment>
-
-.. _slaveconfig_scenario:
-
-Scenario
---------
-
-This section contains information about the scenario setup for the experiment. This information does not change between invocations.
-
-.. table::
- :class: tight-table
-
- ================ ========================= =========
- Tag Description Mandatory
- ================ ========================= =========
- OpenScenarioFile Name of the scenario file yes
- ================ ========================= =========
-
-**Example**
-
-This experiment uses the "HighwayScenario.xosc" scenario file.
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/slaveConfig.xml
- :language: xml
- :start-at: <Scenario>
- :end-at: </Scenario>
-
-.. _slaveconfig_environment:
-
-Environment
------------
-
-This section contains information about the world and the general environment inside the simulation. Every invocation re-rolls the environment probabilities.
-All probabilities need to add up to 1.0.
-
-.. table::
- :class: tight-table
-
- =================== ============================================================================================== =========
- Tag Description Mandatory
- =================== ============================================================================================== =========
- TimeOfDay **Currently unused.** Time of day ranging from 1-24 [h]. 1+ entry
- VisibilityDistance Defines how far a human driver can see [m]. 1+ entry
- Friction Friction on the road. Used by DynamicsRegularDriving and LimiterAccelerationVehicleComponents. 1+ entry
- Weather **Currently unused.** Weather as string 1+ entry
- =================== ============================================================================================== =========
-
-**Example**
-
-Every invocation has the time set to 15:00.
-In 70% of all invocation drivers can see 125 meter and for the other 30% of invocations the drivers can see 250 meter.
-Every invocation has a friction of 0.3.
-Every invocation has sunny weather.
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/slaveConfig.xml
- :language: xml
- :start-at: <Environment>
- :end-at: </Environment>
-
-.. _slaveconfig_observations:
-
-Observations
-------------
-
-In this section all observation libraries are defined with their parameters.
-A specific library is loaded by adding an entry to the `Observations` tag:
-
-.. code-block:: xml
-
- <Observations>
- <!-- first observer -->
- <Observation>
- <Library>THE_OBSERVATION_LIBRARY</Library>
- <!-- observer specific parameter -->
- <Parameters>
- <String Key="THE_KEY" Value="THE_VALUE"/>
- <Bool Key="ANOTHER_KEY" Value="false"/>
- ...
- </Parameters>
- </Observation>
- <!-- second observer -->
- <Observation>
- ...
- </Observation>
- </Observations>
-
-Here, the ``Library`` tag contains the name of the library, and ``Parameters`` contain an optional list of key/value pairs, specific for each observer.
-
-Please refer to the documentation of the individual observers for available parameters:
-
-.. toctree::
- :glob:
- :maxdepth: 1
-
- ../output/*
-
-.. _slaveconfig_spawners:
-
-Spawners
---------
-
-In this section the spawners are defined with their Profile (defined in the ProfilesCatalog).
-The same library can be loaded multiple times with different profiles.
-A spawner is either of type "PreRun", meaning it is triggered only once at the start of the simulation, or "Runtime", meaning it is triggered in every timestep.
-If different spawners are to be triggered at the same time the spawner with the highest priority is triggered first.
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/slaveConfig.xml
- :language: xml
- :start-at: <Spawners>
- :end-at: </Spawners>
-
-
-Full Example
-------------
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/slaveConfig.xml
- :language: xml
- :caption: slaveConfig.xodr
- :linenos:
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _simulationconfig:
+
+SimulationConfig
+================
+
+.. todo: Write a nicer introduction for the simulationconfig, similar to "Overview" section in scenery
+
+This file describes the user configurable parameters of an experiment.
+Several parameters depend on probabilities.
+Each invocation then rolls for said probabilities.
+All probabilities need to add up to 1.0.
+
+The simulationConfig.xml consists of the following sections:
+
+* :ref:`simulationconfig_profilescatalog`
+* :ref:`simulationconfig_experiment`
+* :ref:`simulationconfig_scenario`
+* :ref:`simulationconfig_environment`
+* :ref:`simulationconfig_observations`
+* :ref:`simulationconfig_spawners`
+
+.. _simulationconfig_profilescatalog:
+
+ProfilesCatalog
+---------------
+
+Specifies the :ref:`profilescatalog` for the experiment.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+ :language: xml
+ :start-at: <ProfilesCatalog>
+ :end-at: </ProfilesCatalog>
+
+.. _simulationconfig_experiment:
+
+Experiment
+----------
+
+Specifies the general experiment setup, not specific to a single invocation.
+
+.. table::
+ :class: tight-table
+
+ ===================== ================================================== =========
+ Tag Description Mandatory
+ ===================== ================================================== =========
+ ExperimentId Id of the experiment yes
+ NumberOfInvocations Number of invocation in the experiment.
+ For each invocation probabilities are rerolled. yes
+ RandomSeed Random seed for the entire experiment.
+ Must be within the bounds of an unsigned integer. yes
+ Libraries Name of the core module Libraries to use.
+ If not specified the default name is assumed. yes
+ ===================== ================================================== =========
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+ :language: xml
+ :start-at: <Experiment>
+ :end-at: </Experiment>
+
+.. _simulationconfig_scenario:
+
+Scenario
+--------
+
+This section contains information about the scenario setup for the experiment. This information does not change between invocations.
+
+.. table::
+ :class: tight-table
+
+ ================ ========================= =========
+ Tag Description Mandatory
+ ================ ========================= =========
+ OpenScenarioFile Name of the scenario file yes
+ ================ ========================= =========
+
+**Example**
+
+This experiment uses the "HighwayScenario.xosc" scenario file.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+ :language: xml
+ :start-at: <Scenario>
+ :end-at: </Scenario>
+
+.. _simulationconfig_environment:
+
+Environment
+-----------
+
+This section contains information about the world and the general environment inside the simulation. Every invocation re-rolls the environment probabilities.
+All probabilities need to add up to 1.0.
+
+.. table::
+ :class: tight-table
+
+ =================== ============================================================================================== =========
+ Tag Description Mandatory
+ =================== ============================================================================================== =========
+ TimeOfDay **Currently unused.** Time of day ranging from 1-24 [h]. 1+ entry
+ VisibilityDistance Defines how far a human driver can see [m]. 1+ entry
+ Friction Friction on the road. Used by DynamicsRegularDriving and LimiterAccelerationVehicleComponents. 1+ entry
+ Weather **Currently unused.** Weather as string 1+ entry
+ TrafficRules Defines which set of TrafficRules to use from the ProfilesCatalog yes
+ =================== ============================================================================================== =========
+
+**Example**
+
+Every invocation has the time set to 15:00.
+In 70% of all invocation drivers can see 125 meter and for the other 30% of invocations the drivers can see 250 meter.
+Every invocation has a friction of 0.3.
+Every invocation has sunny weather.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+ :language: xml
+ :start-at: <Environment>
+ :end-at: </Environment>
+
+.. _simulationconfig_observations:
+
+Observations
+------------
+
+In this section all observation libraries are defined with their parameters.
+A specific library is loaded by adding an entry to the `Observations` tag:
+
+.. code-block:: xml
+
+ <Observations>
+ <!-- first observer -->
+ <Observation>
+ <Library>THE_OBSERVATION_LIBRARY</Library>
+ <!-- observer specific parameter -->
+ <Parameters>
+ <String Key="THE_KEY" Value="THE_VALUE"/>
+ <Bool Key="ANOTHER_KEY" Value="false"/>
+ ...
+ </Parameters>
+ </Observation>
+ <!-- second observer -->
+ <Observation>
+ ...
+ </Observation>
+ </Observations>
+
+Here, the ``Library`` tag contains the name of the library, and ``Parameters`` contain an optional list of key/value pairs, specific for each observer.
+
+Please refer to the documentation of the individual observers for available parameters:
+
+.. toctree::
+ :glob:
+ :maxdepth: 1
+
+ ../outputs/*
+
+.. _simulationconfig_spawners:
+
+Spawners
+--------
+
+In this section the spawners are defined with their Profile (defined in the ProfilesCatalog).
+The same library can be loaded multiple times with different profiles.
+A spawner is either of type "PreRun", meaning it is triggered only once at the start of the simulation, or "Runtime", meaning it is triggered in every timestep.
+If different spawners are to be triggered at the same time the spawner with the highest priority is triggered first.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+ :language: xml
+ :start-at: <Spawners>
+ :end-at: </Spawners>
+
+
+Full Example
+------------
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+ :language: xml
+ :caption: simulationConfig.xml
+ :linenos:
diff --git a/content/html/_sources/user_guide/configs/staticsystemconfig.rst.txt b/content/html/_sources/user_guide/configs/staticsystemconfig.rst.txt
new file mode 100644
index 0000000..5e49f84
--- /dev/null
+++ b/content/html/_sources/user_guide/configs/staticsystemconfig.rst.txt
@@ -0,0 +1,19 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _staticsystemconfig:
+
+Static SystemConfig
+===================
+
+SystemConfig files are optional.
+They describe static configurations of agents and are therefore an alternative to the dynamic sampling of an agent during runtime.
+The schema is the same as for the :ref:`systemconfigblueprint`.
diff --git a/content/html/_sources/user_guide/sim_user_guide/input/systemconfigblueprint.rst.txt b/content/html/_sources/user_guide/configs/systemconfigblueprint.rst.txt
similarity index 93%
rename from content/html/_sources/user_guide/sim_user_guide/input/systemconfigblueprint.rst.txt
rename to content/html/_sources/user_guide/configs/systemconfigblueprint.rst.txt
index 6454a09..c197236 100644
--- a/content/html/_sources/user_guide/sim_user_guide/input/systemconfigblueprint.rst.txt
+++ b/content/html/_sources/user_guide/configs/systemconfigblueprint.rst.txt
@@ -1,270 +1,270 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _systemconfigblueprint:
-
-SystemConfigBlueprint
-=====================
-
-This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents.
-If the simulation uses only statically configured agents (AgentProfile Type attribute is "Static"), this file isn't required.
-
-.. _systemconfigblueprint_agentComponents:
-
-AgentComponents
----------------
-All components are listed here. An agent consists of a subset of this components.
-
-.. table::
- :class: tight-table
-
- =========== ===============================================================================
- Attribute Description
- =========== ===============================================================================
- Id Used as key by the simulation to find the component
- Priority The module with the highest priority value gets executed first by the scheduler
- Offset Delay for the trigger method of each component in ms
- Cycle Interval in which the component gets triggered by the scheduler in ms
- Response Delay for the UpdateOutput method of each component in ms
- Library Library name of this component
- Parameters Parameters used by the component
- =========== ===============================================================================
-
-Example:
-This example describes the Sensor_Driver module.
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/systemConfigBlueprint.xml
- :language: xml
- :dedent: 12
- :lines: 28-38
-
-.. _systemconfigblueprint_priorities:
-
-Priorities
-----------
-
-Please refer to the [Components and channel communication diagram]]\ref dev_concepts_modulecomposition) for assignment of a proper priority.
-Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers.
-Data is then handled by algorithms like Algorithm_Lateral.
-Output-relevant modules like dynamics and actions are executed last.
-
-Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:
-Level 1 describes data produced by ADAS and drivers.
-Level 2 describes data output by vehicle dynamic controllers.
-Level 3 describes data delivered by dynamics.
-
-Priorities can be grouped (coarse) as following:
-Highest number indicates highest priority.
-
-.. table::
- :class: tight-table
-
- =========================== ===========
- Scope Range
- =========================== ===========
- Parameters 500
- OpenScenarioActions 400
- Sensor 350...399
- Event 330
- DriverMode 310
- ADAS 250...299
- ComponentController 200
- Prioritizer (Lvl. 1) 150...199
- VehicleDynamicsControllers 100...149
- Prioritizer (Lvl. 2) 75...99
- Dynamics 50...74
- Prioritizer (Lvl. 3) 25...49
- Updater 0...24
- =========================== ===========
-
-The table below can be used as orientation when a new module is introduced.
-
-.. table::
- :class: tight-table
-
- ========================================= ======================================= ========= =========================== =======================================================================================================================
- Name Library Priority Scope Note
- ========================================= ======================================= ========= =========================== =======================================================================================================================
- ParametersAgentModules ParametersAgent 500 Parameters Sets all init-data and is updated cyclically
- OpenScenarioActions OpenScenarioActions 400 ADAS Reads events from OpenScenario Actions and forwards them to other components
- SensorObjectDetector Sensor_OSI 398 Sensor Gets instantiated multiple times (one time per sensor)
- SensorAggregation SensorAggregation_OSI 351 Sensor
- SensorFusionErrorless SensorFusionErrorless_OSI 350 Sensor
- AlgorithmAgentFollowingDriverModel AlgorithmAgentFollowingDriverModel 310 DriverModels
- AEB AlgorithmAutonomousEmergencyBraking 250 ADAS
- ComponentController ComponentController 200 ADAS Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.
- PrioritizerLaterDriver SignalPrioritizer 150 Prioritizer
- PrioritizerAccelerationDriver SignalPrioritizer 150 Prioritizer
- PrioritizerTurningIndicator SignalPrioritizer 150 Prioritizer
- PrioritizerSteeringVehicleComponents SignalPrioritizer 150 Prioritizer
- PrioritizerAccelerationVehicleComponents SignalPrioritizer 150 Prioritizer
- LimiterAccelerationVehicleComponents LimiterAccelerationVehicleComponents 120 VehicleDynamicsControllers
- AlgorithmLateralDriver AlgorithmLateralDriver 100 VehicleDynamicsControllers
- AlgorithmLongitudinalVehicleComponents AlgorithmLongitudinalVehicleComponents 100 VehicleDynamicsControllers
- AlgorithmLongitudinalDriver AlgorithmLongitudinalDriver 100 VehicleDynamicsControllers
- PrioritizerSteering SignalPrioritizer 75 Prioritizer
- PrioritizerLongitudinal SignalPrioritizer 75 Prioritizer
- DynamicsCollision DynamicsCollision 50 Dynamics
- DynamicsRegularDriving DynamicsRegularDriving 50 Dynamics
- DynamicsTrajectoryFollower DynamicsTrajectoryFollower 50 Dynamics
- PrioritizerDynamics SignalPrioritizer 25 Prioritizer
- SensorRecordStateModule SensorRecordState 2 Updater Since values are "frozen" for current time step, logging can be placed anywhere
- ActionLongitudinalDriverModules ActionLongitudinalDriver 3 Updater Will be expanded to ActionPrimary DriverTasks
- ActionSecondaryDriverTasksModules ActionSecondaryDriverTasks 3 Updater
- AgentUpdater AgentUpdater 1 Updater
- ========================================= ======================================= ========= =========================== =======================================================================================================================
-
-.. _systemconfigblueprint_channelids:
-
-Channel-Ids
------------
-
-Channels allow components to communicate with each other.
-The signalflow is set explicitly via a channel-Id of 4 digits (see also [Components and channels communication diagram](/ref dev_concepts_modulecomposition)).
-
-The first two numbers define the sending module (XX 00).
-The other two digits define the type of signal that is sent (00 XX).
-
-Signals as well as modules can be grouped to allow explicit numbering (see tables below).
-
-Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)
-
-Example:
-PrioritizerAccelerationDriver -> AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.
-
-
-**Ids for Modules (first two digits)**
-
-
-Index range for module groups:
-
-.. table::
- :class: tight-table
-
- ================= ==========
- Group Id
- ================= ==========
- Dynamics 1...10
- Algorithm 11...30
- DriverTasks 31...40
- Driver 41...50
- VehicleComponent 51...80
- Special 81...89
- Sensor 91...99
- ================= ==========
-
-With corresponding defined indices:
-
-.. table::
- :class: tight-table
-
- ========================================= ================= =====
- Module Group Id
- ========================================= ================= =====
- AgentUpdater Dynamics 1
- Dynamics_TrajectoryFollower Dynamics 2
- Dynamics_RegularDriving Dynamics 3
- Dynamics_Collision Dynamics 4
- PrioritizerDynamics Dynamics 5
- Algorithm_LongitudinalVehicleComponent Algorithm 11
- Algorithm_LongitudinalAfdm Algorithm 12
- Algorithm_SteeringVehicleComponent Algorithm 14
- Algorithm_LateralVehicleAfdm Algorithm 15
- LimiterVehicleLongitudinal Algorithm 17
- PrioritizerLongitudinal Algorithm 21
- PrioritizerSteering Algorithm 22
- PrioritizerAccelerationVehicleComponents Algorithm 23
- PrioritizerSteeringVehicleComponents Algorithm 24
- Action_LongitudinalDriver DriverTasks 31
- Action_SecondaryDriverTasks DriverTasks 32
- PrioritizerTurningIndicator DriverTasks 33
- AlgorithmAgentFollowingDriver Driver 41
- AEB VehicleComponent 52
- ComponentController Special 83
- OpenScenarioActions Special 84
- Parameter_Vehicle Sensor 92
- SensorAggregation Sensor 93
- SensorFusion Sensor 94
- Sensor_Driver Sensor 95
- ========================================= ================= =====
-
-**Ids for Signals (last two digits)**
-
-Index range for signal groups:
-
-
-.. table::
- :class: tight-table
-
- ==================== ==========
- Group Id
- ==================== ==========
- Dynamics 1...10
- Algorithm 11...30
- OpenScenarioActions 61...70
- Special 71...80
- Sensor 81...90
- Parameters 91...99
- ==================== ==========
-
-With corresponding defined indices:
-
-.. table::
- :class: tight-table
-
- ======================================= ==================== =====
- Signal Group Id
- ======================================= ==================== =====
- Dynamics Dynamics 01
- Longitudinal Algorithm 11
- Steering Algorithm 12
- Acceleration Algorithm 13
- Lateral Algorithm 14
- SecondaryDriverTasks Algorithm 19
- Trajectory OpenScenarioActions 71
- AcquireGlobalPosition OpenScenarioActions 62
- CustomParameters (CustomCommandAction) OpenScenarioActions 63
- SensorDriver Sensor 81
- SensorData Sensor 90
- ParametersVehicle Parameters 92
- ======================================= ==================== =====
-
-.. _systemconfigblueprint_parameters:
-
-Parameters
-----------
-
-For more information on the type of parameters (escpecially stochastic distributions), please refer to the [ProfilesGroup section](\ref io_input_profilescatalog_profileGroups).
-
-**Important Note:** The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax.
-See the following example:
-
-.. code-block:: xml
-
- <parameters>
- <parameter>
- <id>StringParameter</id>
- <type>string</type>
- <unit/>
- <value>Lorem ipsum</value>
- </parameter>
- <parameter>
- <id>RandomParameter</id>
- <type>normalDistribution</type>
- <unit/>
- <value>
- <mean>15.0</mean>
- <sd>2.5</sd>
- <min>10.0</min>
- <max>20.0</max>
- </value>
- </parameter>
- </parameters>
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _systemconfigblueprint:
+
+SystemConfigBlueprint
+=====================
+
+This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents.
+If the simulation uses only statically configured agents (AgentProfile Type attribute is "Static"), this file isn't required.
+
+.. _systemconfigblueprint_agentComponents:
+
+AgentComponents
+---------------
+All components are listed here. An agent consists of a subset of this components.
+
+.. table::
+ :class: tight-table
+
+ =========== ===============================================================================
+ Attribute Description
+ =========== ===============================================================================
+ Id Used as key by the simulation to find the component
+ Priority The module with the highest priority value gets executed first by the scheduler
+ Offset Delay for the trigger method of each component in ms
+ Cycle Interval in which the component gets triggered by the scheduler in ms
+ Response Delay for the UpdateOutput method of each component in ms
+ Library Library name of this component
+ Parameters Parameters used by the component
+ =========== ===============================================================================
+
+Example:
+This example describes the Sensor_Driver module.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/systemConfigBlueprint.xml
+ :language: xml
+ :dedent: 12
+ :lines: 28-38
+
+.. _systemconfigblueprint_priorities:
+
+Priorities
+----------
+
+Please refer to the :ref:`Components and channel communication diagram <component_channel_communication>` for assignment of a proper priority.
+Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers.
+Data is then handled by algorithms like Algorithm_Lateral.
+Output-relevant modules like dynamics and actions are executed last.
+
+Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:
+Level 1 describes data produced by ADAS and drivers.
+Level 2 describes data output by vehicle dynamic controllers.
+Level 3 describes data delivered by dynamics.
+
+Priorities can be grouped (coarse) as following:
+Highest number indicates highest priority.
+
+.. table::
+ :class: tight-table
+
+ =========================== ===========
+ Scope Range
+ =========================== ===========
+ Parameters 500
+ OpenScenarioActions 400
+ Sensor 350...399
+ Event 330
+ DriverMode 310
+ ADAS 250...299
+ ComponentController 200
+ Prioritizer (Lvl. 1) 150...199
+ VehicleDynamicsControllers 100...149
+ Prioritizer (Lvl. 2) 75...99
+ Dynamics 50...74
+ Prioritizer (Lvl. 3) 25...49
+ Updater 0...24
+ =========================== ===========
+
+The table below can be used as orientation when a new module is introduced.
+
+.. table::
+ :class: tight-table
+
+ ========================================= ======================================= ========= =========================== =======================================================================================================================
+ Name Library Priority Scope Note
+ ========================================= ======================================= ========= =========================== =======================================================================================================================
+ ParametersAgentModules ParametersAgent 500 Parameters Sets all init-data and is updated cyclically
+ OpenScenarioActions OpenScenarioActions 400 ADAS Reads events from OpenScenario Actions and forwards them to other components
+ SensorObjectDetector Sensor_OSI 398 Sensor Gets instantiated multiple times (one time per sensor)
+ SensorAggregation SensorAggregation_OSI 351 Sensor
+ SensorFusionErrorless SensorFusionErrorless_OSI 350 Sensor
+ AlgorithmAgentFollowingDriverModel AlgorithmAgentFollowingDriverModel 310 DriverModels
+ AEB AlgorithmAutonomousEmergencyBraking 250 ADAS
+ ComponentController ComponentController 200 ADAS Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.
+ PrioritizerLaterDriver SignalPrioritizer 150 Prioritizer
+ PrioritizerAccelerationDriver SignalPrioritizer 150 Prioritizer
+ PrioritizerTurningIndicator SignalPrioritizer 150 Prioritizer
+ PrioritizerSteeringVehicleComponents SignalPrioritizer 150 Prioritizer
+ PrioritizerAccelerationVehicleComponents SignalPrioritizer 150 Prioritizer
+ LimiterAccelerationVehicleComponents LimiterAccelerationVehicleComponents 120 VehicleDynamicsControllers
+ AlgorithmLateralDriver AlgorithmLateralDriver 100 VehicleDynamicsControllers
+ AlgorithmLongitudinalVehicleComponents AlgorithmLongitudinalVehicleComponents 100 VehicleDynamicsControllers
+ AlgorithmLongitudinalDriver AlgorithmLongitudinalDriver 100 VehicleDynamicsControllers
+ PrioritizerSteering SignalPrioritizer 75 Prioritizer
+ PrioritizerLongitudinal SignalPrioritizer 75 Prioritizer
+ DynamicsCollision DynamicsCollision 50 Dynamics
+ DynamicsRegularDriving DynamicsRegularDriving 50 Dynamics
+ DynamicsTrajectoryFollower DynamicsTrajectoryFollower 50 Dynamics
+ PrioritizerDynamics SignalPrioritizer 25 Prioritizer
+ SensorRecordStateModule SensorRecordState 2 Updater Since values are "frozen" for current time step, logging can be placed anywhere
+ ActionLongitudinalDriverModules ActionLongitudinalDriver 3 Updater Will be expanded to ActionPrimary DriverTasks
+ ActionSecondaryDriverTasksModules ActionSecondaryDriverTasks 3 Updater
+ AgentUpdater AgentUpdater 1 Updater
+ ========================================= ======================================= ========= =========================== =======================================================================================================================
+
+.. _systemconfigblueprint_channelids:
+
+Channel-Ids
+-----------
+
+Channels allow components to communicate with each other.
+The signal flow is set explicitly via a channel-Id of 4 digits (see also :ref:`Components and channels communication diagram <component_channel_communication>`).
+
+The first two numbers define the sending module (XX 00).
+The other two digits define the type of signal that is sent (00 XX).
+
+Signals as well as modules can be grouped to allow explicit numbering (see tables below).
+
+Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)
+
+Example:
+PrioritizerAccelerationDriver -> AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.
+
+
+**Ids for Modules (first two digits)**
+
+
+Index range for module groups:
+
+.. table::
+ :class: tight-table
+
+ ================= ==========
+ Group Id
+ ================= ==========
+ Dynamics 1...10
+ Algorithm 11...30
+ DriverTasks 31...40
+ Driver 41...50
+ VehicleComponent 51...80
+ Special 81...89
+ Sensor 91...99
+ ================= ==========
+
+With corresponding defined indices:
+
+.. table::
+ :class: tight-table
+
+ ========================================= ================= =====
+ Module Group Id
+ ========================================= ================= =====
+ AgentUpdater Dynamics 1
+ Dynamics_TrajectoryFollower Dynamics 2
+ Dynamics_RegularDriving Dynamics 3
+ Dynamics_Collision Dynamics 4
+ PrioritizerDynamics Dynamics 5
+ Algorithm_LongitudinalVehicleComponent Algorithm 11
+ Algorithm_LongitudinalAfdm Algorithm 12
+ Algorithm_SteeringVehicleComponent Algorithm 14
+ Algorithm_LateralVehicleAfdm Algorithm 15
+ LimiterVehicleLongitudinal Algorithm 17
+ PrioritizerLongitudinal Algorithm 21
+ PrioritizerSteering Algorithm 22
+ PrioritizerAccelerationVehicleComponents Algorithm 23
+ PrioritizerSteeringVehicleComponents Algorithm 24
+ Action_LongitudinalDriver DriverTasks 31
+ Action_SecondaryDriverTasks DriverTasks 32
+ PrioritizerTurningIndicator DriverTasks 33
+ AlgorithmAgentFollowingDriver Driver 41
+ AEB VehicleComponent 52
+ ComponentController Special 83
+ OpenScenarioActions Special 84
+ Parameter_Vehicle Sensor 92
+ SensorAggregation Sensor 93
+ SensorFusion Sensor 94
+ Sensor_Driver Sensor 95
+ ========================================= ================= =====
+
+**Ids for Signals (last two digits)**
+
+Index range for signal groups:
+
+
+.. table::
+ :class: tight-table
+
+ ==================== ==========
+ Group Id
+ ==================== ==========
+ Dynamics 1...10
+ Algorithm 11...30
+ OpenScenarioActions 61...70
+ Special 71...80
+ Sensor 81...90
+ Parameters 91...99
+ ==================== ==========
+
+With corresponding defined indices:
+
+.. table::
+ :class: tight-table
+
+ ======================================= ==================== =====
+ Signal Group Id
+ ======================================= ==================== =====
+ Dynamics Dynamics 01
+ Longitudinal Algorithm 11
+ Steering Algorithm 12
+ Acceleration Algorithm 13
+ Lateral Algorithm 14
+ SecondaryDriverTasks Algorithm 19
+ Trajectory OpenScenarioActions 71
+ AcquireGlobalPosition OpenScenarioActions 62
+ CustomParameters (CustomCommandAction) OpenScenarioActions 63
+ SensorDriver Sensor 81
+ SensorData Sensor 90
+ ParametersVehicle Parameters 92
+ ======================================= ==================== =====
+
+.. _systemconfigblueprint_parameters:
+
+Parameters
+----------
+
+For more information on the type of parameters (especially stochastic distributions), please refer to the :ref:`ProfilesGroup section <profilescatalog_profilegroups>`.
+
+**Important Note:** The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax.
+See the following example:
+
+.. code-block:: xml
+
+ <parameters>
+ <parameter>
+ <id>StringParameter</id>
+ <type>string</type>
+ <unit/>
+ <value>Lorem ipsum</value>
+ </parameter>
+ <parameter>
+ <id>RandomParameter</id>
+ <type>normalDistribution</type>
+ <unit/>
+ <value>
+ <mean>15.0</mean>
+ <sd>2.5</sd>
+ <min>10.0</min>
+ <max>20.0</max>
+ </value>
+ </parameter>
+ </parameters>
diff --git a/content/html/_sources/user_guide/gui_user_guide/10_projects.rst.txt b/content/html/_sources/user_guide/gui_user_guide/10_projects.rst.txt
new file mode 100644
index 0000000..9301b17
--- /dev/null
+++ b/content/html/_sources/user_guide/gui_user_guide/10_projects.rst.txt
@@ -0,0 +1,66 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ 2021 ITK Engineering GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+
+.. _project:
+
+Project
+=======
+
+The Project Plugin can be used to simply start a simulation from the gui.
+
+.. image:: _static/images/plugin/project/overview.png
+
+Before the simulation adjustments begin, the user is obligated to load or create a “Simulation Manager Configuration” (`opSimulationManager.xml`).
+Such a configuration in openPASS can be understood as a project.
+It is a XML-File which get inscribed the path settings and simulation settings after you click **SAVE**.
+
+General
+-------
+
+.. image:: _static/images/plugin/project/general.png
+
+In this segment you are able to name the Simulation Manager Configuration.
+
+Path Settings
+-------------
+
+.. image:: _static/images/plugin/project/pathSettings.png
+
+The next step is path settings.
+These will change depending on where your openPASS.exe is located.
+In the screen shot above the openPASS.exe is located at ``C:/OpenPASS``.
+For easier use of this tutorial it is recommended to save the Demo Folder in ``C:/`` and name it *OpenPASS*.
+On to the settings.
+As you can see three paths need to be set.
+The library comes with openPASS.
+There are plans to remove the option for the user to set the library path, but at this moment there is still the option to change it, although this is not recommended.
+The Simulation Path references the opSimulation.exe, the file to execute the simulation.
+If you are using the provided Demo, there is no need for you to change it.
+The only path you need to set is the path of the Configuration Files.
+In the Demo it will be located at ``[directory of openPASS.exe]/configs``, so in this case it would be ``C:/OpenPASS/configs``.
+
+Simulation Output Settings
+--------------------------
+
+.. image:: _static/images/plugin/project/simOutputSettings.png
+
+Next step is the Simulation Output Settings. There are three output files. First is the log file of the simulation manager.
+However, when simulation jobs are started by the GUI, the openPASS simulation manager is not executed and, hence, the log will not contain any entries.
+Second is the log file created by the simulation. In this log file you will find error messages, actions of the simulation etc. depending on the log level.
+The Log level lets you choose which type of messages are logged. “0” means that only errors are logged,
+whereas the highest log level of “5” leads to the most detailed description of which steps are executed by the simulation.
+The results path specifies the folder in which the results of a successful simulation will be saved.
+
+.. note::
+
+ It is recommended to create a new folder in C:/OpenPASS called “results” and set it as the results path as in the picture above.
diff --git a/content/html/_sources/user_guide/gui_user_guide/20_system_editor.rst.txt b/content/html/_sources/user_guide/gui_user_guide/20_system_editor.rst.txt
new file mode 100644
index 0000000..8a8cef3
--- /dev/null
+++ b/content/html/_sources/user_guide/gui_user_guide/20_system_editor.rst.txt
@@ -0,0 +1,30 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 ITK Engineering GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _system_editor:
+
+System Editor
+=============
+
+The System Editor helps building the system configuration (systemConfig) in the GUI.
+This file is also a XML-file and specifies the components of an agent and systems used, in this case advanced driver assistance systems.
+
+The editing of the System Configuration has two modes: the static and dynamic mode.
+
+The **static mode** requires the user to build a complete system which includes sensors, algorithms and actions.
+As the actions directly manipulate the simulated vehicle’s parameters, which are the same no matter the system (i.e. gas pedal position, braking pedal position, steering wheel angle), there is no need to code the interaction between system and simulation.
+
+At this point there is no support for supporting statistical inclusion of systems in the static mode.
+The current demo only provides an example for the static mode (a System Configuration of an agent to follow a PCM trajectory), so make sure you have the static mode selected.
+
+The **dynamic mode** is covered by the Scenario Simulation User guide.
+
+.. image:: _static/images/plugin/system_editor/overview.png
diff --git a/content/html/_sources/user_guide/gui_user_guide/30_pcm_sim.rst.txt b/content/html/_sources/user_guide/gui_user_guide/30_pcm_sim.rst.txt
new file mode 100644
index 0000000..f2f6aa4
--- /dev/null
+++ b/content/html/_sources/user_guide/gui_user_guide/30_pcm_sim.rst.txt
@@ -0,0 +1,147 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 ITK Engineering GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _pcm_sim:
+
+PCM Simulation
+==============
+
+This plugin is used to configure and start a simulation based pcm data or simulation configuration sets of previous simulations.
+
+Simulation Input
+----------------
+
+* **UseCase: Database**
+
+ * Select the radio button ``PCM Database``
+ * Select a PCM database file
+
+.. image:: _static/images/plugin/pcm_sim/input_db.png
+
+* **UseCase: Resimulation**
+
+ * Select the radio button ``Simulation Results``
+ * Select a folder with previous Results
+
+ .. note::
+
+ The selected output folder must be different to the input folder
+
+ .. warning::
+
+ To ensure that the previous results are correctly read, the folder structure of the results has to follow the structure the GUI itself generates when the simulation is started from a database.
+ Only the configuration files of the default folders are loaded. No variation is loaded and taken into account at this place.
+
+
+.. image:: _static/images/plugin/pcm_sim/input_resim.png
+
+Simulation Output
+-----------------
+
+ * In ``Result Folder`` you can select a folder where the output shall be written
+ * In ``Log Level`` you can define at what level a logging output shall be produced
+
+ * ``Error`` - Log only Errors
+ * ``Warning`` - Log additionally warnings
+ * ``Info`` - Log additionally information
+ * ``Debug`` - Log additionally debug information
+
+.. image:: _static/images/plugin/pcm_sim/output.png
+
+
+Simulation Configuration
+------------------------
+
+At this point, the User is able to choose what system configuration shall be used for each agent.
+The User can either select one or multiple system configuration files (comma separated).
+In the case of multiple files are configured, there will be unique sets of simulation configuration files generated for each possible combination, which are placed in folders named / coded like ``<Car1_Index>-<Car2_Index>-<Other_Index>`` e.g. ``1-0-2``
+
+
+.. image:: _static/images/plugin/pcm_sim/system_config.png
+
+Variation
+---------
+
+* The random seed can be set to a specific initial random seed by ``using a given value`` or just by ``using the case number``
+* The number runs can with different random seed can be set by changing ``Variation Count``
+* The original trajectory can be shifted randomly by setting the ``Shift radius`` for *Car1* and *Car2*
+
+ * Given a shift radius R for a vehicle
+ * For each position P in trajectory, it shifted position P’ is calculated by randomly generating a distance D (D<= R) and a relative angle in polar coordinate
+
+ .. math::
+ `x_{\text{new}}(t) = x(t) + \delta x`
+ `y_{\text{new}}(t) = x(y) + \delta y`
+
+.. image:: _static/images/plugin/pcm_sim/trajectory_shifting.png
+
+* The original velocity can be scaled randomly by setting the ``Max scale`` for *Car1* and *Car2*
+* Given a velocity deviation :math `\delta V` for a vehicle
+* In a trajectory, a position P_{i} is represented as
+
+ .. math::
+ `x(t) = x_{0} + \int_{0}^{t} v_{x} (t) dt`
+ `y(t) = y_{0} + \int_{0}^{t} v_{y} (t) dt`
+
+* The new position P_{i} can be represented as
+
+ .. math::
+ `x(t) = x_{0} + k \int_{0}^{t} v_{x} (t) dt`
+ `y(t) = y_{0} + k \int_{0}^{t} v_{y} (t) dt`
+
+* with a scaling factor k
+
+.. image:: _static/images/plugin/pcm_sim/velocity_scaling.png
+
+.. note::
+
+ The additional random seeds which are used by the variation are chosen randomly depending on the initial random seed.
+ Therefore they´re reproducible
+
+.. image:: _static/images/plugin/pcm_sim/variation.png
+
+Simulation Start
+----------------
+
+* Select one or multiple simulation cases (by pressing the CTRL / SHIFT key)
+
+* Press the button ``Start Simulation``
+
+.. note::
+
+ The User can interrupt the simulation process by pressing ``Stop Simulation``.
+ The simulation will stop after the current simulation is finished.
+ Therefore it won´t start the remaining simulations anymore.
+
+
+.. image:: _static/images/plugin/pcm_sim/select.png
+
+Save / Load Experiment
+----------------------
+
+Every change in the gui can be saved as in "Experiment" in an text file.
+This file can later be loaded to retrieve the previous used configuration of the "Experiment".
+
+.. image:: _static/images/plugin/pcm_sim/experiment.png
+
+.. _result_folder_structure:
+
+Result Folder Structure
+-----------------------
+
+* <Result Folder Name> (e.g. *result_pcm*)
+
+ * <Case Name> (e.g. *1000208*)
+
+ * <System Configuration combination code> (e.g. *1-0-2*)
+
+ * <Variation Name> (e.g. *default* or *Var_00001*)
+
diff --git a/content/html/_sources/user_guide/gui_user_guide/40_pcm_eval.rst.txt b/content/html/_sources/user_guide/gui_user_guide/40_pcm_eval.rst.txt
new file mode 100644
index 0000000..b06c2ab
--- /dev/null
+++ b/content/html/_sources/user_guide/gui_user_guide/40_pcm_eval.rst.txt
@@ -0,0 +1,40 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 ITK Engineering GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _pcm_eval:
+
+PCM Evaluation
+==============
+
+This plugin is used to load results of previous simulations.
+
+Loading Results
+---------------
+
+* Click ``Browse Result Files`` to choose a result folder to be evaluated
+* Simulation results are displayed in a tree structure
+
+.. note::
+
+ Result folder has to be structured like the result folder of a previous simulation.
+ See :ref:`result_folder_structure`
+
+.. image:: _static/images/plugin/pcm_eval/overview.png
+
+Evaluating Results
+------------------
+
+* Select result files to be shown.
+
+.. note::
+ It is possible to select multiple files to compare different trajectories in the visualization area.
+
+.. image:: _static/images/plugin/pcm_eval/select.png
diff --git a/content/html/_sources/user_guide/gui_user_guide/50_result_visualization.rst.txt b/content/html/_sources/user_guide/gui_user_guide/50_result_visualization.rst.txt
new file mode 100644
index 0000000..f684d23
--- /dev/null
+++ b/content/html/_sources/user_guide/gui_user_guide/50_result_visualization.rst.txt
@@ -0,0 +1,24 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 ITK Engineering GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _result_visualization:
+
+Result Visualization
+====================
+
+.. image:: result_visualization/_static/images/timePlot/select.png
+
+.. toctree::
+ :glob:
+ :maxdepth: 1
+
+ result_visualization/*
+
diff --git a/content/html/_sources/user_guide/gui_user_guide/result_visualization/10_statistics.rst.txt b/content/html/_sources/user_guide/gui_user_guide/result_visualization/10_statistics.rst.txt
new file mode 100644
index 0000000..288dcdf
--- /dev/null
+++ b/content/html/_sources/user_guide/gui_user_guide/result_visualization/10_statistics.rst.txt
@@ -0,0 +1,57 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 ITK Engineering GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _statistics:
+
+Statistics
+==========
+
+This plugin is used to calculate and show statistics and histograms from a result folder.
+
+Loading Results
+---------------
+
+* Click ``Add result folder`` to choose a result folder of which the statistics shall be calculated.
+
+.. note::
+
+ It is possible to add multiple result folders.
+
+ * Subsequently selected folders are added to the list in the TreeView
+ * Histograms will be calculated for each folder including subfolders and will be shown in a new row
+
+.. image:: _static/images/statistics/overview.png
+
+Evaluating Results
+------------------
+
+* Select a result folder for showing their statistics and histograms
+* Histograms over a folder are shown in one (scrollable) row of images
+* Selecting the white background of the folder list clears the histogram preview panel
+* Each row of histograms contains the contents of the corresponding folder in the folder list
+* Adding a new folder re-calculates all histograms for each column using a common x-range
+
+.. note::
+
+ Select an input folder that contains files in the following format
+
+ * Relevant files need ending ``.csv```
+ * Columns can be separated by comma, semicolon or space
+ * First two columns need *frame* and *id** in header
+
+.. warning::
+
+ For all files in a selected folder and subfolders the headers are read in
+
+ * All of these files consistent with the first read header are used to calculate histograms for all columns
+ * Files with non-consistent headers are ignored
+
+.. image:: _static/images/statistics/select.png
diff --git a/content/html/_sources/user_guide/gui_user_guide/result_visualization/20_timePlot.rst.txt b/content/html/_sources/user_guide/gui_user_guide/result_visualization/20_timePlot.rst.txt
new file mode 100644
index 0000000..976f81c
--- /dev/null
+++ b/content/html/_sources/user_guide/gui_user_guide/result_visualization/20_timePlot.rst.txt
@@ -0,0 +1,48 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 ITK Engineering GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _timeplot:
+
+TimePlot
+========
+
+This plugin is used to plot trajectories (position, velocity, etc.) over time.
+
+Loading Results
+---------------
+
+* Click ``Select result folder`` to choose a result folder that contains files in the required format (see below) to be plotted.
+
+.. image:: _static/images/timeplot/overview.png
+
+Evaluating Results
+------------------
+
+* Select an input folder that contains files in this format:
+
+ * Relevant files need ending ``.csv``
+ * Columns can be separated by comma, semicolon or space
+ * First two columns need *frame* and *id** in header
+
+* Select table column to be plotted (up to three)
+* For each open tab the selected columns are plotted
+
+ * first column selected is shown on the x-axis
+ * second column selected is shown on the y-axis
+ * third column selected is shown on the right y-axis
+
+.. note::
+
+ * The track_id items can be selected individually
+ * Selecting the lowest subfolders yields tabs for all contained tracks
+ * Selections can be combined with ``Ctrl+select`` or ``Shift+select``
+
+.. image:: _static/images/timeplot/select.png
diff --git a/content/html/_sources/user_guide/sim_user_guide/output/observation_log.rst.txt b/content/html/_sources/user_guide/outputs/observation_log.rst.txt
similarity index 95%
rename from content/html/_sources/user_guide/sim_user_guide/output/observation_log.rst.txt
rename to content/html/_sources/user_guide/outputs/observation_log.rst.txt
index 705c9f1..a80bbef 100644
--- a/content/html/_sources/user_guide/sim_user_guide/output/observation_log.rst.txt
+++ b/content/html/_sources/user_guide/outputs/observation_log.rst.txt
@@ -1,290 +1,290 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _observation_log:
-
-Observation_Log
-###############
-
-This section describes the parameters and outputs of the ``Observation_Log`` observer.
-
-.. _observationlog_paramerization:
-
-Paramerization
-==============
-
-Following parameters are supported:
-
-.. table::
- :class: tight-table
-
- =================== ============= ==========================================================================
- Parameter Type Description
- =================== ============= ==========================================================================
- OutputFilename String Name of the output file (normally ``simulationOutput.xml``)
- LoggingCyclicsToCsv Bool If ``true``, cyclics are written an additional file (one CSV file per run)
- LoggingGroup_<NAME> StringVector Defines which columns belong to the logging group named NAME
- LoggingGroups StringVector Defines active logging groups
- =================== ============= ==========================================================================
-
-The columns, defined by the ``LoggingGroup_<NAME>`` correspond to cyclic data entries written by the core and other components.
-At time or writing, the core publishes the following cyclics (see source of ``AgentNetwork.cpp``):
-
-- XPosition
-- YPosition
-- VelocityEgo
-- AccelerationEgo
-- YawAngle
-- YawRate
-- SteeringAngle
-- TotalDistanceTraveled
-- PositionRoute
-- TCoordinate
-- Lane
-- Road
-- SecondaryLanes
-- AgentInFront
-
-Please refer to the individual components, for information about their published cyclics.
-
-.. todo::
-
- The concept Cyclics and the DataStore needs further explanation.
- We also need a way to better communicate, who is publishing what.
- This should directly come out of the source code, to keep the documentation up to date.
-
-.. admonition:: **Wildcards in LoggingGroup definitions**
-
- | It is possible to use the wildcard character ``*`` in a ``LoggingGroup_<NAME>`` entry.
- | The wildcard can be used only once per column reference.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/slaveConfig.xml
- :language: xml
- :start-at: <Library>Observation_Log</Library>
- :end-at: </Parameters>
-
-Output Files
-============
-
-.. _observationlog_simout:
-
-SimulationOutput
-~~~~~~~~~~~~~~~~
-
-Every successful run (single experiment) generates a single file, normally called ``simulationOutput.xml`` (see :ref:'observationlog_paramerization').
-The output can contain multiple invocations of the same configuration with different random seeds.
-For each invocation a RunResult is stored, which contains information about the agents and their parameters.
-As well as run specific events and parameters.
-
-.. code-block:: xml
-
- <SimulationOutput>
- <RunResults>
- <RunResult RunId="0">
- ...
- </RunResult>
- <RunResult RunId="1">
- ...
- </RunResult>
- </RunResults>
- </SimulationOutput>
-
-The RunResult consist out of the following parts:
-
-- :ref:`observationlog_runstatistics`
-- :ref:`observationlog_events`
-- :ref:`observationlog_agents`
-- :ref:`observationlog_cyclics`
-
-.. _observationlog_runstatistics:
-
-RunStatistics
--------------
-
-This section contains the RandomSeed and general statistics of the invocation.
-
-.. table::
- :class: tight-table
-
- ======================= ==================================================================
- Tag Description
- ======================= ==================================================================
- RandomSeed Random seed used for this invocation
- VisibilityDistance Visibility distance of the world
- StopReason Displays the reason why the simulation stopped.
- Currently only due to time out.
- StopTime Currently not used and set to -1
- EgoAccident Flag which shows whether the ego agent was involved in an accident
- TotalDistanceTraveled Total traveled distance of all agents
- EgoDistanceTraveled Total traveled distance of ego vehicle only
- ======================= ==================================================================
-
-.. _observationlog_events:
-
-Events
-------
-
-This section contains all events that occurred during the invocation.
-Event can either be triggered by an EventDetector, Manipulator or by certain vehicle components.
-They are used to track special behavior in the simulation.
-
-.. table::
- :class: tight-table
-
- ====================== =====================================================================================
- Attribute Description
- ====================== =====================================================================================
- Time Time in ms when the event occurred.
- Source Name of the component which created the event.
- ``OpenSCENARIO``, if triggered by an OpenSCENARIO condition.
- Name In case of an OpenSCENARIO event, a path expression Story/Act/Sequence/Maneuver/Event
- using the names of the corresponding tags as described in the OpenSCENARIO file.
- Otherwise determined by the triggering component.
- TriggeringEntities List of entity IDs triggering this event.
- AffectedEntities List of entity IDs affected by this event.
- Parameters List of generic key/value string pairs.
- ====================== =====================================================================================
-
-.. _observationlog_agents:
-
-Agents
-------
-
-This section contains some information on how each agent is configured.
-
-.. table::
- :class: tight-table
-
- ====================== ==============================================================
- Attribute Description
- ====================== ==============================================================
- Id Identification number
- AgentTypeGroupName The agent category. This can either be Ego, Scenario or Common
- AgentTypeName Name of the agent profile
- VehicleModelType Name of the vehicle model
- DriverProfileName Name of the driver profile
- ====================== ==============================================================
-
-.. code-block:: xml
-
- <Agent Id="0"
- AgentTypeGroupName="Ego"
- AgentTypeName="MiddleClassCarAgent"
- VehicleModelType="car_bmw_7"
- DriverProfileName="Regular">
-
-The VehicleAttributes tag lists basic information of the vehicle parameters.
-
-.. table::
- :class: tight-table
-
- ======================= =============================================================================
- Attribute Description
- ======================= =============================================================================
- Width Width of the vehicles bounding box
- Length Length of the vehicles bounding box
- Height Height of the vehicles bounding box
- LongitudinalPivotOffset Distance between center of the bounding box and reference point of the agent.
- Positive distances are closer to the front of the vehicle.
- Negative distances are closer to the rear of the vehicle.
- ======================= =============================================================================
-
-The Sensors tag lists all sensors of the agent and their parameters.
-
-.. table::
- :class: tight-table
-
- ======================= =====================================================================
- Attribute Description
- ======================= =====================================================================
- Name Name of the component
- Model Type of the sensor
- MountingPosLongitudinal Relative longitudinal position of the sensor in relation to the agent
- MountingPosLateral Relative lateral position of the sensor in relation to the agent
- MountingPosHeight Relative height of the sensor in relation to the agent
- OrientationPitch Pitch rotation of the sensor in relation to the agent
- OrientationYaw Yaw rotation of the sensor in relation to the agent
- OpeningAngleH Horizontal opening angle of the sensor
- OpeningAngleV Vertical opening angle of the sensor
- DetectionRange Range how far the sensor reaches in m
- ======================= =====================================================================
-
-.. note::
-
- Calculation of visual obstruction is currently supported only by the Geometric2D sensor.
- See :ref:`systemconfigblueprint` for configuration.
-
-.. code-block:: xml
-
- <Sensor Name="Geometric2DFront"
- Model="Geometric2D"
- MountingPosLongitudinal="0"
- MountingPosLateral="0"
- MountingPosHeight="0.5"
- OrientationPitch="0"
- OrientationYaw="0"
- OpeningAngleH="20"
- OpeningAngleV="-999"
- DetectionRange="300" />
-
-.. _observationlog_cyclics:
-
-Cyclics
--------
-
-If the parameter ``LoggingCyclicsToCsv`` is set to ``false``, this section contains all logged parameters of the agents per time step.
-The tag ``header`` defines the layout of all samples.
-Each entry of the header consists of the agent id and the name of the logged value, in the form ``ID:SAMPLE_NAME``.
-A sample contains all information for one specific time step.
-If an agent does not exist at the current time step, the value is ' '.
-
-**Example**
-
-In this example exist two agents with the ids 0 and 1.
-Two time steps were being tracked, one at 0 seconds and one at 100 ms.
-Agent 0 has a constant velocity of 30 m/s and starts at the position X: 100 and Y: 50.
-Agent 1 has a initial velocity of 40 m/s and starts at the position X: 200 and Y: 50.
-
-.. code-block:: xml
-
- <Cyclics>
- <Header>00:VelocityEgo, 00:XPosition, 00:YPosition, 00:YawAngle, 01:VelocityEgo, 01:XPosition, 01:YPosition, 01:YawAngle</Header>
- <Samples>
- <Sample Time="0">30, 100, 50, 0, 40, 200, 50, 0</Sample>
- <Sample Time="100">30, 103, 50, 0, 40, 204, 50, 0</Sample>
- </Samples>
- </Cyclics>
-
-If the parameter ``LoggingCyclicsToCsv`` is set to ``true``, this section only contains a reference to the corresponding CSV file, e.g.
-
-.. code-block:: xml
-
- <Cyclics>
- <CyclicsFile>Cyclics_Run_000.csv</CyclicsFile>
- </Cyclics>
-
-For each invocation, the file number of the filename is incremented, starting with ``Cyclics_Run_000.csv``.
-
-Cyclics_Run_###
-~~~~~~~~~~~~~~~
-
-This file contains the samples as described in :ref:'observationlog_cyclics', but with the time step as leading column.
-
-**Example**
-
-======== ============== ============ ============ =========== ============== ============ ============ ===========
-Timestep 00:VelocityEgo 00:XPosition 00:YPosition 00:YawAngle 01:VelocityEgo 01:XPosition 01:YPosition 01:YawAngle
-======== ============== ============ ============ =========== ============== ============ ============ ===========
-0 30 100 50 0 40 200 50 0
-100 30 103 50 0 40 204 50 0
-======== ============== ============ ============ =========== ============== ============ ============ ===========
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _observation_log:
+
+Observation_Log
+###############
+
+This section describes the parameters and outputs of the ``Observation_Log`` observer.
+
+.. _observationlog_paramerization:
+
+Paramerization
+==============
+
+Following parameters are supported:
+
+.. table::
+ :class: tight-table
+
+ =================== ============= ==========================================================================
+ Parameter Type Description
+ =================== ============= ==========================================================================
+ OutputFilename String Name of the output file (normally ``simulationOutput.xml``)
+ LoggingCyclicsToCsv Bool If ``true``, cyclics are written an additional file (one CSV file per run)
+ LoggingGroup_<NAME> StringVector Defines which columns belong to the logging group named NAME
+ LoggingGroups StringVector Defines active logging groups
+ =================== ============= ==========================================================================
+
+The columns, defined by the ``LoggingGroup_<NAME>`` correspond to cyclic data entries written by the core and other components.
+At time or writing, the core publishes the following cyclics (see source of ``AgentNetwork.cpp``):
+
+- XPosition
+- YPosition
+- VelocityEgo
+- AccelerationEgo
+- YawAngle
+- YawRate
+- SteeringAngle
+- TotalDistanceTraveled
+- PositionRoute
+- TCoordinate
+- Lane
+- Road
+- SecondaryLanes
+- AgentInFront
+
+Please refer to the individual components, for information about their published cyclics.
+
+.. todo::
+
+ The concept Cyclics and the DataBuffer needs further explanation.
+ We also need a way to better communicate, who is publishing what.
+ This should directly come out of the source code, to keep the documentation up to date.
+
+.. admonition:: **Wildcards in LoggingGroup definitions**
+
+ | It is possible to use the wildcard character ``*`` in a ``LoggingGroup_<NAME>`` entry.
+ | The wildcard can be used only once per column reference.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+ :language: xml
+ :start-at: <Library>Observation_Log</Library>
+ :end-at: </Parameters>
+
+Output Files
+============
+
+.. _observationlog_simout:
+
+SimulationOutput
+~~~~~~~~~~~~~~~~
+
+Every successful run (single experiment) generates a single file, normally called ``simulationOutput.xml`` (see :ref:'observationlog_paramerization').
+The output can contain multiple invocations of the same configuration with different random seeds.
+For each invocation a RunResult is stored, which contains information about the agents and their parameters.
+As well as run specific events and parameters.
+
+.. code-block:: xml
+
+ <SimulationOutput>
+ <RunResults>
+ <RunResult RunId="0">
+ ...
+ </RunResult>
+ <RunResult RunId="1">
+ ...
+ </RunResult>
+ </RunResults>
+ </SimulationOutput>
+
+The RunResult consist out of the following parts:
+
+- :ref:`observationlog_runstatistics`
+- :ref:`observationlog_events`
+- :ref:`observationlog_agents`
+- :ref:`observationlog_cyclics`
+
+.. _observationlog_runstatistics:
+
+RunStatistics
+-------------
+
+This section contains the RandomSeed and general statistics of the invocation.
+
+.. table::
+ :class: tight-table
+
+ ======================= ==================================================================
+ Tag Description
+ ======================= ==================================================================
+ RandomSeed Random seed used for this invocation
+ VisibilityDistance Visibility distance of the world
+ StopReason Displays the reason why the simulation stopped.
+ Currently only due to time out.
+ StopTime Currently not used and set to -1
+ EgoAccident Flag which shows whether the ego agent was involved in an accident
+ TotalDistanceTraveled Total traveled distance of all agents
+ EgoDistanceTraveled Total traveled distance of ego vehicle only
+ ======================= ==================================================================
+
+.. _observationlog_events:
+
+Events
+------
+
+This section contains all events that occurred during the invocation.
+Event can either be triggered by an EventDetector, Manipulator or by certain vehicle components.
+They are used to track special behavior in the simulation.
+
+.. table::
+ :class: tight-table
+
+ ====================== =====================================================================================
+ Attribute Description
+ ====================== =====================================================================================
+ Time Time in ms when the event occurred.
+ Source Name of the component which created the event.
+ ``OpenSCENARIO``, if triggered by an OpenSCENARIO condition.
+ Name In case of an OpenSCENARIO event, a path expression Story/Act/Sequence/Maneuver/Event
+ using the names of the corresponding tags as described in the OpenSCENARIO file.
+ Otherwise determined by the triggering component.
+ TriggeringEntities List of entity IDs triggering this event.
+ AffectedEntities List of entity IDs affected by this event.
+ Parameters List of generic key/value string pairs.
+ ====================== =====================================================================================
+
+.. _observationlog_agents:
+
+Agents
+------
+
+This section contains some information on how each agent is configured.
+
+.. table::
+ :class: tight-table
+
+ ====================== ==============================================================
+ Attribute Description
+ ====================== ==============================================================
+ Id Identification number
+ AgentTypeGroupName The agent category. This can either be Ego, Scenario or Common
+ AgentTypeName Name of the agent profile
+ VehicleModelType Name of the vehicle model
+ DriverProfileName Name of the driver profile
+ ====================== ==============================================================
+
+.. code-block:: xml
+
+ <Agent Id="0"
+ AgentTypeGroupName="Ego"
+ AgentTypeName="MiddleClassCarAgent"
+ VehicleModelType="car_bmw_7"
+ DriverProfileName="Regular">
+
+The VehicleAttributes tag lists basic information of the vehicle parameters.
+
+.. table::
+ :class: tight-table
+
+ ======================= =============================================================================
+ Attribute Description
+ ======================= =============================================================================
+ Width Width of the vehicles bounding box
+ Length Length of the vehicles bounding box
+ Height Height of the vehicles bounding box
+ LongitudinalPivotOffset Distance between center of the bounding box and reference point of the agent.
+ Positive distances are closer to the front of the vehicle.
+ Negative distances are closer to the rear of the vehicle.
+ ======================= =============================================================================
+
+The Sensors tag lists all sensors of the agent and their parameters.
+
+.. table::
+ :class: tight-table
+
+ ======================= =====================================================================
+ Attribute Description
+ ======================= =====================================================================
+ Name Name of the component
+ Model Type of the sensor
+ MountingPosLongitudinal Relative longitudinal position of the sensor in relation to the agent
+ MountingPosLateral Relative lateral position of the sensor in relation to the agent
+ MountingPosHeight Relative height of the sensor in relation to the agent
+ OrientationPitch Pitch rotation of the sensor in relation to the agent
+ OrientationYaw Yaw rotation of the sensor in relation to the agent
+ OpeningAngleH Horizontal opening angle of the sensor
+ OpeningAngleV Vertical opening angle of the sensor
+ DetectionRange Range how far the sensor reaches in m
+ ======================= =====================================================================
+
+.. note::
+
+ Calculation of visual obstruction is currently supported only by the Geometric2D sensor.
+ See :ref:`systemconfigblueprint` for configuration.
+
+.. code-block:: xml
+
+ <Sensor Name="Geometric2DFront"
+ Model="Geometric2D"
+ MountingPosLongitudinal="0"
+ MountingPosLateral="0"
+ MountingPosHeight="0.5"
+ OrientationPitch="0"
+ OrientationYaw="0"
+ OpeningAngleH="20"
+ OpeningAngleV="-999"
+ DetectionRange="300" />
+
+.. _observationlog_cyclics:
+
+Cyclics
+-------
+
+If the parameter ``LoggingCyclicsToCsv`` is set to ``false``, this section contains all logged parameters of the agents per time step.
+The tag ``header`` defines the layout of all samples.
+Each entry of the header consists of the agent id and the name of the logged value, in the form ``ID:SAMPLE_NAME``.
+A sample contains all information for one specific time step.
+If an agent does not exist at the current time step, the value is ' '.
+
+**Example**
+
+In this example exist two agents with the ids 0 and 1.
+Two time steps were being tracked, one at 0 seconds and one at 100 ms.
+Agent 0 has a constant velocity of 30 m/s and starts at the position X: 100 and Y: 50.
+Agent 1 has a initial velocity of 40 m/s and starts at the position X: 200 and Y: 50.
+
+.. code-block:: xml
+
+ <Cyclics>
+ <Header>00:VelocityEgo, 00:XPosition, 00:YPosition, 00:YawAngle, 01:VelocityEgo, 01:XPosition, 01:YPosition, 01:YawAngle</Header>
+ <Samples>
+ <Sample Time="0">30, 100, 50, 0, 40, 200, 50, 0</Sample>
+ <Sample Time="100">30, 103, 50, 0, 40, 204, 50, 0</Sample>
+ </Samples>
+ </Cyclics>
+
+If the parameter ``LoggingCyclicsToCsv`` is set to ``true``, this section only contains a reference to the corresponding CSV file, e.g.
+
+.. code-block:: xml
+
+ <Cyclics>
+ <CyclicsFile>Cyclics_Run_000.csv</CyclicsFile>
+ </Cyclics>
+
+For each invocation, the file number of the filename is incremented, starting with ``Cyclics_Run_000.csv``.
+
+Cyclics_Run_###
+~~~~~~~~~~~~~~~
+
+This file contains the samples as described in :ref:'observationlog_cyclics', but with the time step as leading column.
+
+**Example**
+
+======== ============== ============ ============ =========== ============== ============ ============ ===========
+Timestep 00:VelocityEgo 00:XPosition 00:YPosition 00:YawAngle 01:VelocityEgo 01:XPosition 01:YPosition 01:YawAngle
+======== ============== ============ ============ =========== ============== ============ ============ ===========
+0 30 100 50 0 40 200 50 0
+100 30 103 50 0 40 204 50 0
+======== ============== ============ ============ =========== ============== ============ ============ ===========
diff --git a/content/html/_sources/user_guide/sim_user_guide/output/observation_repository.rst.txt b/content/html/_sources/user_guide/outputs/observation_repository.rst.txt
similarity index 91%
rename from content/html/_sources/user_guide/sim_user_guide/output/observation_repository.rst.txt
rename to content/html/_sources/user_guide/outputs/observation_repository.rst.txt
index baccaed..26a7145 100644
--- a/content/html/_sources/user_guide/sim_user_guide/output/observation_repository.rst.txt
+++ b/content/html/_sources/user_guide/outputs/observation_repository.rst.txt
@@ -1,127 +1,127 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _observation_entityrepository:
-
-Observation_EntityRepository
-############################
-
-This observer logs all entities generated for an experiment, split by run and/or persistence.
-In the following, the parametrization and generated outputs of the ``Observation_EntityRepository`` observer are described.
-
-.. _observation_entityrepository_parametrization:
-
-Parametrization
-===============
-
-Following parameters are supported:
-
-.. table::
- :class: tight-table
-
- ======================= ============= ===============================================================================================================
- Parameter Type Description
- ======================= ============= ===============================================================================================================
- FilenamePrefix String (Optional) Prefix for the output files.
- Defaults to ``Repository`` resulting e.g. in ``Repository_Run_00.csv``.
- WritePersistentEntities String Defines how persistent, ie cross-run entities such as stationary objects, are logged
-
- Options:
-
- - **Consolidated** (default): Logged together with non persistent entities and hence duplicated for each run.
- - **Separate**: Written once into ``{FilenamePrefix}_Persistent.csv``
- - **Skip**: No output.
- ======================= ============= ===============================================================================================================
-
-.. warning:: The visualization is searching for files with the default ``Repository`` prefix, so don't change it unless you have a reason to.
-
-**Example**
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/slaveConfig.xml
- :language: xml
- :start-at: <Library>Observation_EntityRepository</Library>
- :end-at: </Parameters>
-
-Output Files
-============
-
-.. _observation_entityrepository_run:
-
-Repository_Run_###.csv
-~~~~~~~~~~~~~~~~~~~~~~
-
-This file contains information about entities, which exist only within the given run.
-In other words, ``Repository_Run_000.csv`` will contain all moving objects, spawned within the first run (zero-based index).
-
-**Example**
-
-.. csv-table::
- :file: ../_static/Repository_Run_000.csv
- :header-rows: 1
- :delim: ;
-
-.. note:: By convention, moving objects start with id 0.
-
-If ``WritePersistentEntities`` is set to ``Consolidated``, each file will also contain information about stationary objects, described below.
-
-.. _observation_entityrepository_persistent:
-
-Repository_Persistent.csv
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
-This file contains information about entities, which exist in every single run.
-This includes mainly both objects (starting at 100000) and road elements (starting at 200000), defined by the :ref:`scenery`.
-
-**Example**
-
-.. table::
-
- ====== ================ ========= ======= ============ ============= =========== =======
- id group source version name secondary id type subtype
- ====== ================ ========= ======= ============ ============= =========== =======
- 100000 StationaryObject OpenDRIVE 1.6 Barrier barrier_01 obstacle
- 100001 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_01 railing
- 100002 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_01 railing
- 100003 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_01 railing
- 100004 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_01 railing
- 100005 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_01 railing
- 100006 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_02 railing
- 100007 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_02 railing
- 100008 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_02 railing
- 100009 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_02 railing
- 100010 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_02 railing
- 200000 Others OpenDRIVE 1.6 LaneRoadMark Solid
- 200001 Others OpenDRIVE 1.6 LaneRoadMark Solid
- 200002 Others OpenDRIVE 1.6 Lane -3 Driving
- 200003 Others OpenDRIVE 1.6 LaneRoadMark Broken
- 200004 Others OpenDRIVE 1.6 Lane -2 Driving
- 200005 Others OpenDRIVE 1.6 LaneRoadMark Broken
- 200006 Others OpenDRIVE 1.6 Lane -1 Driving
- ====== ================ ========= ======= ============ ============= =========== =======
-
-Information coming from the source ``openDRIVE`` are mapped in the following manner:
-
-.. table::
-
- ========= ============
- Attribute Column
- ========= ============
- name name
- id secondary id
- type type
- subtype subtype
- ========= ============
-
-.. note::
-
- Repeated OpenDRIVE objects are internally split into individual objects.
- E.g. a single guard rail object in openDRIVE, is split into individual openPASS objects having consecutive ids.
- In the example above, the openDRIVE object with (secondary) id ``guardrail_01`` is split into 5 individual openPASS objects with the closed id range from 100001 to 100005.
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _observation_entityrepository:
+
+Observation_EntityRepository
+############################
+
+This observer logs all entities generated for an experiment, split by run and/or persistence.
+In the following, the parametrization and generated outputs of the ``Observation_EntityRepository`` observer are described.
+
+.. _observation_entityrepository_parametrization:
+
+Parametrization
+===============
+
+Following parameters are supported:
+
+.. table::
+ :class: tight-table
+
+ ======================= ============= ===============================================================================================================
+ Parameter Type Description
+ ======================= ============= ===============================================================================================================
+ FilenamePrefix String (Optional) Prefix for the output files.
+ Defaults to ``Repository`` resulting e.g. in ``Repository_Run_00.csv``.
+ WritePersistentEntities String Defines how persistent, ie cross-run entities such as stationary objects, are logged
+
+ Options:
+
+ - **Consolidated** (default): Logged together with non persistent entities and hence duplicated for each run.
+ - **Separate**: Written once into ``{FilenamePrefix}_Persistent.csv``
+ - **Skip**: No output.
+ ======================= ============= ===============================================================================================================
+
+.. warning:: The visualization is searching for files with the default ``Repository`` prefix, so don't change it unless you have a reason to.
+
+**Example**
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
+ :language: xml
+ :start-at: <Library>Observation_EntityRepository</Library>
+ :end-at: </Parameters>
+
+Output Files
+============
+
+.. _observation_entityrepository_run:
+
+Repository_Run_###.csv
+~~~~~~~~~~~~~~~~~~~~~~
+
+This file contains information about entities, which exist only within the given run.
+In other words, ``Repository_Run_000.csv`` will contain all moving objects, spawned within the first run (zero-based index).
+
+**Example**
+
+.. csv-table::
+ :file: _static/Repository_Run_000.csv
+ :header-rows: 1
+ :delim: ;
+
+.. note:: By convention, moving objects start with id 0.
+
+If ``WritePersistentEntities`` is set to ``Consolidated``, each file will also contain information about stationary objects, described below.
+
+.. _observation_entityrepository_persistent:
+
+Repository_Persistent.csv
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+This file contains information about entities, which exist in every single run.
+This includes mainly both objects (starting at 100000) and road elements (starting at 200000), defined by the :ref:`scenery`.
+
+**Example**
+
+.. table::
+
+ ====== ================ ========= ======= ============ ============= =========== =======
+ id group source version name secondary id type subtype
+ ====== ================ ========= ======= ============ ============= =========== =======
+ 100000 StationaryObject OpenDRIVE 1.6 Barrier barrier_01 obstacle
+ 100001 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_01 railing
+ 100002 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_01 railing
+ 100003 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_01 railing
+ 100004 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_01 railing
+ 100005 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_01 railing
+ 100006 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_02 railing
+ 100007 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_02 railing
+ 100008 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_02 railing
+ 100009 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_02 railing
+ 100010 StationaryObject OpenDRIVE 1.6 GuardRail guardrail_02 railing
+ 200000 Others OpenDRIVE 1.6 LaneRoadMark Solid
+ 200001 Others OpenDRIVE 1.6 LaneRoadMark Solid
+ 200002 Others OpenDRIVE 1.6 Lane -3 Driving
+ 200003 Others OpenDRIVE 1.6 LaneRoadMark Broken
+ 200004 Others OpenDRIVE 1.6 Lane -2 Driving
+ 200005 Others OpenDRIVE 1.6 LaneRoadMark Broken
+ 200006 Others OpenDRIVE 1.6 Lane -1 Driving
+ ====== ================ ========= ======= ============ ============= =========== =======
+
+Information coming from the source ``openDRIVE`` are mapped in the following manner:
+
+.. table::
+
+ ========= ============
+ Attribute Column
+ ========= ============
+ name name
+ id secondary id
+ type type
+ subtype subtype
+ ========= ============
+
+.. note::
+
+ Repeated OpenDRIVE objects are internally split into individual objects.
+ E.g. a single guard rail object in openDRIVE, is split into individual openPASS objects having consecutive ids.
+ In the example above, the openDRIVE object with (secondary) id ``guardrail_01`` is split into 5 individual openPASS objects with the closed id range from 100001 to 100005.
diff --git a/content/html/_sources/user_guide/sim_user_guide/10_overview.rst.txt b/content/html/_sources/user_guide/sim_user_guide/10_overview.rst.txt
new file mode 100644
index 0000000..c756a70
--- /dev/null
+++ b/content/html/_sources/user_guide/sim_user_guide/10_overview.rst.txt
@@ -0,0 +1,27 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+
+Overview
+========
+
+|Op| is a tool for executing a traffic based Monte-Carlo simulation and provides capabilities for the following two levels of variation:
+
+#. **Experiment:** Topmost, an experiment defines the domains of possible inputs, which shall be compared, such as *"traffic at high volume"* with *"traffic at low volume"*.
+ In this sense, a parameter variation is done at a very coarse level, resulting in two sets of inputs.
+ Note that this level is covered by the GUI (see :ref:`pcm_simulation_guide`).
+
+#. **Invocation:** When an input-set is available, |op| invokes a defined number of runs, resulting in a probabilistic sampling of the given state under parameterizable conditions.
+ For example, in the aforementioned situation *"traffic at high volume"*, it would generate participants at *"lower speeds"* and *"smaller gaps"*.
+ Thereby parameterizable means, that the user has the freedom to define probabilities defining *"lower speed"* and *"smaller gaps"*.
+ In each invocation, |op| samples from these probabilities to generate a possible traffic situation under the given parameter variation.
+
diff --git a/content/html/_sources/user_guide/sim_user_guide/20_components.rst.txt b/content/html/_sources/user_guide/sim_user_guide/20_components.rst.txt
new file mode 100644
index 0000000..16946d0
--- /dev/null
+++ b/content/html/_sources/user_guide/sim_user_guide/20_components.rst.txt
@@ -0,0 +1,38 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+
+Component View
+==============
+
+|Op| is divided into components, which can be roughly divided into **core components** and **model components**.
+The most interesting core components are the individual **spawners**, which are responsible for populating the world in a realistic fashion.
+Model components are again roughly divided into **drivers** and **vehicle components** and represent how an individual participant is composed.
+
+.. note::
+
+ There are several additional components acting in the background, making sure things work as they should.
+ As a guideline, components parameterized through the **ProfilesCatalog** are scope of this guide, others not.
+
+
+.. _simuserguide_components:
+
+Components in Depth
+-------------------
+
+In the following, all available components are described.
+
+.. toctree::
+ :glob:
+ :maxdepth: 3
+
+ components/*
diff --git a/content/html/_sources/user_guide/sim_user_guide/components/driver.rst.txt b/content/html/_sources/user_guide/sim_user_guide/components/driver.rst.txt
index 3fefd7e..ca73f34 100644
--- a/content/html/_sources/user_guide/sim_user_guide/components/driver.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/components/driver.rst.txt
@@ -1,46 +1,46 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _components_driver:
-
-Driver
-------
-
-.. _components_agentfollowingdrivermodel:
-
-AlgorithmAgentFollowingDriverModel
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-This driver type adapts its velocity to an agent in front and holds a desired velocity if there's no front agent available (like adaptive cruise control). The lateral guidance always keeps the agent in the middle of the lane.
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/ProfilesCatalog.xml
- :language: xml
- :dedent: 4
- :start-at: <Profile Name="Regular">
- :end-at: </Profile>
-
-.. table::
- :class: tight-table
-
- =========================== ========== ==== ====================================================================================================================== ============================
- Parameter Type Unit Description Defaults to
- =========================== ========== ==== ====================================================================================================================== ============================
- AlgorithmLateralModule String Behavior model for the steering wheel angle of the driver Required value
- AlgorithmLongitudinalModule String Behavior model for the accelerator, brake pedal position, and the current gear of the driver Required value
- VelocityWish Double m/s Desired speed :abbr:`33.33 m/s (120 km/h)`
- Delta Double Free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant) 4.0
- TGapWish Double s Desired time gap between ego and front agent 1.5 s
- MinDistance Double m Minimum distance between ego and front (used at slow speeds); Also called jam distance 2.0 m
- MaxAcceleration Double m/s² Maximum acceleration in satisfactory way, not vehicle possible acceleration 1.4 m/s²
- MaxDeceleration Double m/s² Desired deceleration 2.0 m/s²
- =========================== ========== ==== ====================================================================================================================== ============================
-
-.. todo:: Check description of Delta
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _components_driver:
+
+Driver
+------
+
+.. _components_agentfollowingdrivermodel:
+
+AlgorithmAgentFollowingDriverModel
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+This driver type adapts its velocity to an agent in front and holds a desired velocity if there's no front agent available (like adaptive cruise control). The lateral guidance always keeps the agent in the middle of the lane.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
+ :language: xml
+ :dedent: 4
+ :start-at: <Profile Name="Regular">
+ :end-at: </Profile>
+
+.. table::
+ :class: tight-table
+
+ =========================== ========== ==== ====================================================================================================================== ============================
+ Parameter Type Unit Description Defaults to
+ =========================== ========== ==== ====================================================================================================================== ============================
+ AlgorithmLateralModule String Behavior model for the steering wheel angle of the driver Required value
+ AlgorithmLongitudinalModule String Behavior model for the accelerator, brake pedal position, and the current gear of the driver Required value
+ VelocityWish Double m/s Desired speed :abbr:`33.33 m/s (120 km/h)`
+ Delta Double Free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant) 4.0
+ TGapWish Double s Desired time gap between ego and front agent 1.5 s
+ MinDistance Double m Minimum distance between ego and front (used at slow speeds); Also called jam distance 2.0 m
+ MaxAcceleration Double m/s² Maximum acceleration in satisfactory way, not vehicle possible acceleration 1.4 m/s²
+ MaxDeceleration Double m/s² Desired deceleration 2.0 m/s²
+ =========================== ========== ==== ====================================================================================================================== ============================
+
+.. todo:: Check description of Delta
diff --git a/content/html/_sources/user_guide/sim_user_guide/components/spawner.rst.txt b/content/html/_sources/user_guide/sim_user_guide/components/spawner.rst.txt
index 259a80b..a06c2c1 100644
--- a/content/html/_sources/user_guide/sim_user_guide/components/spawner.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/components/spawner.rst.txt
@@ -1,207 +1,219 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _components_spawner:
-
-Spawner
--------
-
-.. _components_scenariospawner:
-
-Spawners are responsible to populate the world.
-In order to do so, several spawners can be used, whereas only the **ScenarioSpawner** is mandatory.
-
-ScenarioSpawner
-~~~~~~~~~~~~~~~
-
-The ScenarioSpawner is responsible for spawning Ego and Scenario vehicles as defined in the Scenario configuration file.
-It is only called once initially and is **mandatory** for each simulation.
-This Spawner should trigger before any other Spawners.
-
-The ScenarioSpawner has no parameters.
-
-Behavior:
-
-- In order to spawn correctly, a position for each Ego and Scenario vehicle is necessary, normally coming from the scenario (recommended).
- As the position is *optional* in openSCENARIO it is possible that it is **not defined**.
- In such cases spawning takes place at ``x = 0`` and ``y = 0``.
-- If there is no route defined in the Scenario, the Spawner will set a random route starting at the spawning position.
-- If there are multiple lanes at this position (this is only possible on junctions) it will take the lane with the lowest relative heading.
-
-.. _components_prerunspawner:
-
-PreRunSpawner
-~~~~~~~~~~~~~
-
-The PreRunSpawner is responsible for populating the scenery/world with Common-Agents before the simulator starts.
-This Spawner only acts once before the simulator starts and not during the simulation run.
-The PreRunSpawner needs a list of SpawnPoints that define where it will spawn agents and a list of weighted :ref:`components_trafficgroups` that defines the type and parameters of the spawned agents.
-The SpawnPoints have the following parameters:
-
-.. table::
- :class: tight-table
-
- ========= ============ ==== ===================================================================================
- Parameter Type Unit Description
- ========= ============ ==== ===================================================================================
- Roads StringVector The RoadIDs of the Roads on which to spawn Agents.
- Multiple roads can be given as a comma-separated list.
- Inexistent roads are ignored.
- Lanes IntVector The LaneIDs of the Lanes of the Road on which to spawn Agents.
- Multiple lanes can be given as a comma-separated list.
- Inexistent lanes are ignored.
- SStart Double m The S position specifying the minimum S for the range within which to spawn Agents
- SEnd Double m The S position specifying the maximum S for the range within which to spawn Agents
- ========= ============ ==== ===================================================================================
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/ProfilesCatalog.xml
- :language: xml
- :dedent: 4
- :start-at: <Profile Name="DefaultPreRunCommon">
- :end-at: </Profile>
-
-The PreRunCommonSpawner will spawn common agents on the specified Lanes of the specified Road from the s position S-Start to the s position S-End based on the parameters of the TrafficGroups.
-The following restrictions apply:
-
-- The PreRunCommonSpawner only spawns on the following OpenDRIVE lane types:
- - Driving
- - OnRamp
- - OffRamp
- - ConnectingRamp
-
-- If the ScenarioSpawner spawned Scenario Agents (including the Ego agent) before this Spawner is triggered (in the intended order of these Spawners), ranges between the Scenario Agents are invalid for spawning by this Spawner.
- The spawn ranges will only be augmented by Scenario Agents on the same Road and Lane.
- As such, there are 7 different potential scenarios that may arise in terms of how the valid spawn ranges of the spawner may be impacted:
-
- #) **Two Scenario Agents on the same Road and Lane**
-
- One before S-Start position and one after S-End position:
- This invalidates the entirety of the spawning range; no agents may be spawned here
-
- #) **Two Scenario Agents on the same Road and Lane**
-
- One between S-Start position and S-End position and one either before S-Start or after S-End:
- The only valid spawn range is that on the opposite side of the in-specified-range Agent from the outside-specified-range agent
-
- #) **Two Scenario Agents on the same Road and Lane**
-
- Both within the specified S-Start and S-End positions
- The valid spawn ranges are between S-Start and the first car and between the second car and S-End
-
- #) **Two Scenario Agents on the same Road and Lane**
-
- Both outside the specified S-Start and S-End positions on the same side (both before S-Start or both after S-End):
- The specified spawn range is entirely valid
-
- #) **One Scenario Agent on the same Road and Lane**
-
- Within specified S-Start and S-End positions:
- The valid spawn ranges include all but the bounds of the Agent within the specified S-Start and S-End positions
- #) **One Scenario Agent on the same Road and Lane**
-
- Outside specified S-Start and S-End positions:
- The specified spawn range is entirely valid
-
- #) **No Scenario Agents on the same Road and Lane**
-
- The specified spawn range is entirely valid
-
-- If a non-existent road is specified, no spawning will occur
-
-- If only non-existent lanes for an existent road are specified, no spawning will occur
-
-- If some specified lanes exist and some are non-existent for an existent road, spawning will occur for the lanes which do exist
-
-- If the specified S-Start and S-End positions are either beyond or before the S positions at which the specified Road and Lane combination exists, no spawning will occur
-
-- In the situation where a section of a Road adds a new lane to the left of the currently existing lanes, one should be aware that the laneId "-1" will shift to the newest left lane and should adjust Spawner profiles with this in mind
-
-Once the spawning ranges are determined the PreRunSpawner will spawn for each spawning area based on the following logic:
-
-#) First the agentprofile needs to be determined. If the current spawn position evaluate to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.
-
-#) Then the time gap between the new agent and the closest existing agent is sampled.
-
-#) Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.
-
-#) The gap and velocity are used to calculate the distance between the new agent and the next agent in this spawnarea. Here a minimum distance of 5m between agents is required.
-
-#) A random route is sampled starting at the appropriate road
-
-#) Based on the distance and the velocity the TTC (2s) conditions are evaluated.If the TTC is critical the spawn velocity is reduced to fulfill the TTC requirements.
-
-#) As a final step the spawnpoint evaluates the spawncoordinates. If they are valid the agent is created, else the spawnpoint moves on to the next spawning range.
-
-.. _components_runtimespawner:
-
-RuntimeSpawner
-~~~~~~~~~~~~~~~~~~~
-
-The RuntimeSpawner (included in library "SpawnPointRuntimeCommon_OSI") is responsible for maintaining a populated scenery throughout the simulation runtime.
-It acts at each timestep throughout the simulation run and attempts to spawn Common Agents at the specified location(s).
-The RuntimeSpawner needs a list of Spawners that define where it will spawn agents and a list of weighted :ref:`components_trafficgroups` that defines the type and parameters of the spawned agents.
-The Spawners have the following parameters:
-
-.. table::
- :class: tight-table
-
- ========== ============ ==== ==============================================================
- Parameter Type Unit Description
- ========== ============ ==== ==============================================================
- Roads StringVector The RoadIDs of the Roads on which to spawn Agents
- Lanes IntVector The LaneIDs of the Lanes of the Road on which to spawn Agents
- S-Position Double m The S position specifying at which point to spawn Agents
- ========== ============ ==== ==============================================================
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/ProfilesCatalog.xml
- :language: xml
- :dedent: 4
- :start-at: <Profile Name="DefaultRuntimeCommon">
- :end-at: </Profile>
-
-The RuntimeSpawner will spawn based on the following logic:
-
-- First the agentprofile needs to be determined. If the current spawn position evaluates to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.
-- Then the time gap between the new agent and the closest existing agent is sampled.
-- Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.
-- A random route is sampled starting at the appropriate road
-- Once the timely gap expires, the spawnpoint evaluate if the TTC (2s) conditions and a minimum required distance between agents (5m) are met. If the TTC is critical the spawn velocity is reduced to fullfill the TTC requriements. If the minimum distance is not fullfilled, the agent will be held back.
-- If all requirements were fullfilled the agent is spawned.
-
-The RuntimeSpawner only spawns on the following OpenDRIVE lane types: Driving, OnRamp
-
-.. _components_trafficgroups:
-
-TrafficGroups
-~~~~~~~~~~~~~
-
-Both the :ref:`components_prerunspawner` and the :ref:`components_runtimespawner` need one or more TrafficGroup.
-These are typically defined in a separate ProfileGroup of type "TrafficGroup" and then reference by the spawner profile.
-In this way both spawner can use the same TrafficGroups.
-
-.. table::
- :class: tight-table
-
- ============= ============= ==== =======================================================================================================================================================================
- Parameter Type Unit Description
- ============= ============= ==== =======================================================================================================================================================================
- AgentProfiles <List> A set of <ListItem>s which define potential AgentProfile values for the Agents spawned in the SpawnArea and the probability at which the TrafficVolume will be selected
- Velocity Distribution m/s A stochastic distribution describing the velocity of the spawned Agents
- TGap Distribution s A stochastic distribution describing the time gap between spawned Agents
- Homogeneity DoubleVector OPTIONAL: A vector describing the velocity increments for left lanes
- RightLaneOnly Bool OPTIONAL: A flag determining whether this TrafficGroup can only be applied to the right most lane
- ============= ============= ==== =======================================================================================================================================================================
-
-.. literalinclude:: /../../../sim/contrib/examples/DefaultConfigurations/ProfilesCatalog.xml
- :language: xml
- :dedent: 4
- :start-at: <Profile Name="LightVehicles">
- :end-at: </Profile>
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _components_spawner:
+
+Spawner
+-------
+
+Spawners are responsible to populate the world.
+In order to do so, several spawners can be used, whereas only the **ScenarioSpawner** is mandatory.
+
+.. _components_scenariospawner:
+
+ScenarioSpawner
+~~~~~~~~~~~~~~~
+
+The ScenarioSpawner is responsible for spawning Ego and Scenario vehicles as defined in the Scenario configuration file.
+It is only called once initially and is **mandatory** for each simulation.
+This Spawner should trigger before any other Spawners.
+
+The ScenarioSpawner has no parameters.
+
+Behavior:
+
+- In order to spawn correctly, a position for each Ego and Scenario vehicle is necessary, normally coming from the scenario (recommended).
+ As the position is *optional* in openSCENARIO it is possible that it is **not defined**.
+ In such cases spawning takes place at ``x = 0`` and ``y = 0``.
+- If there is no route defined in the Scenario, the Spawner will set a random route starting at the spawning position.
+- If there are multiple lanes at this position (this is only possible on junctions) it will take the lane with the lowest relative heading.
+
+.. _components_prerunspawner:
+
+PreRunSpawner
+~~~~~~~~~~~~~
+
+The PreRunSpawner is responsible for populating the scenery/world with Common-Agents before the simulator starts.
+This Spawner only acts once before the simulator starts and not during the simulation run.
+The PreRunSpawner needs a list of SpawnZones that define where it will spawn agents and a list of weighted :ref:`components_trafficgroups` that defines the type and parameters of the spawned agents.
+The SpawnZones have the following parameters:
+
+.. table::
+ :class: tight-table
+
+ ========= ============ ==== ======== ==================================================================================
+ Parameter Type Unit optional Description
+ ========= ============ ==== ======== ==================================================================================
+ Roads StringVector no List of linked Roads on which to spawn Agents.
+ Intermediate roads may be omitted.
+ If a road is not linked to the previous in the list (or doesn't exist), this road and the roads after it are ignored.
+ This means in particular, that if the first road in the list does not exist, the entire SpawnZone is ignored.
+ Lanes IntVector yes The LaneIDs of the Lanes of the Road on which to spawn Agents (given on SStart).
+ Inexistent lanes are ignored.
+ If omitted all lanes are used.
+ SStart Double m yes The S position on the first road specifying the start of the range within which to spawn Agents
+ If omitted the whole road is included
+ SEnd Double m yes The S position on the last road specifying the start of the range within which to spawn Agents
+ SLength Double m yes Length of spawned area calculated from SStart
+ This is ignored if SEnd is explicitly defined.
+ If neither is given the whole road is included
+ ========= ============ ==== ======== ==================================================================================
+
+ .. note::
+
+ Two SpawnZones should not intersect each other. The behavior in this case is undefined. The PreRunSpawner is not required to fill the SpawnZones in the given order.
+
+SStart, SEnd and SLength may be out of range for the road.
+In this case they are cropped such that the spawn range is maximum within the road's bounds.
+It is also possible to define the minimum gap in meters either as fixed parameter of type double or as stochastic distribution.
+If it isn't defined the default value of 5m is used.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
+ :language: xml
+ :dedent: 4
+ :start-at: <Profile Name="DefaultPreRunCommon">
+ :end-at: </Profile>
+
+The PreRunCommonSpawner will spawn common agents on the specified Lanes of the specified continuous Road sequence (= RoadStream) inside the specified s interval based on the parameters of the TrafficGroups.
+The following restrictions apply:
+
+- The PreRunCommonSpawner only spawns on the following OpenDRIVE lane types:
+ - Driving
+ - OnRamp
+ - OffRamp
+ - ConnectingRamp
+
+- If the ScenarioSpawner spawned Scenario Agents (including the Ego agent) before this Spawner is triggered (in the intended order of these Spawners), ranges between the Scenario Agents are invalid for spawning by this Spawner.
+ The spawn ranges will only be augmented by Scenario Agents on the same Lane.
+ As such, there are 7 different potential scenarios that may arise in terms of how the valid spawn ranges of the spawner may be impacted:
+
+ #) **Two Scenario Agents on the same Lane**
+
+ One before S-Start position and one after S-End position:
+ This invalidates the entirety of the spawning range; no agents may be spawned here
+
+ #) **Two Scenario Agents on the same Lane**
+
+ One between S-Start position and S-End position and one either before S-Start or after S-End:
+ The only valid spawn range is that on the opposite side of the in-specified-range Agent from the outside-specified-range agent
+
+ #) **Two Scenario Agents on the same Lane**
+
+ Both within the specified S-Start and S-End positions
+ The valid spawn ranges are between S-Start and the first car and between the second car and S-End
+
+ #) **Two Scenario Agents on the same Lane**
+
+ Both outside the specified S-Start and S-End positions on the same side (both before S-Start or both after S-End):
+ The specified spawn range is entirely valid
+
+ #) **One Scenario Agent on the same Lane**
+
+ Within specified S-Start and S-End positions:
+ The valid spawn ranges include all but the bounds of the Agent within the specified S-Start and S-End positions
+
+ #) **One Scenario Agent on the same Lane**
+
+ Outside specified S-Start and S-End positions:
+ The specified spawn range is entirely valid
+
+ #) **No Scenario Agents on the same Lane**
+
+ The specified spawn range is entirely valid
+
+- If only non-existent lanes on SStart are specified, no spawning will occur
+
+- If some specified lanes exist and some are non-existent, spawning will occur for the lanes which do exist
+
+Once the spawning ranges are determined the PreRunSpawner will spawn for each spawning area based on the following logic:
+
+#) First the agentprofile needs to be determined. If the current spawn position evaluate to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.
+
+#) Then the time gap between the new agent and the closest existing agent is sampled.
+
+#) Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.
+
+#) The gap and velocity are used to calculate the distance between the new agent and the next agent in this spawnarea. Here a minimum distance of 5m between agents is required.
+
+#) A random route is sampled starting at the appropriate road
+
+#) Based on the distance and the velocity the TTC (2s) conditions are evaluated.If the TTC is critical the spawn velocity is reduced to fulfill the TTC requirements.
+
+#) As a final step the spawnzone evaluates the spawncoordinates. If they are valid the agent is created, else the spawnzone moves on to the next spawning range.
+
+.. _components_runtimespawner:
+
+RuntimeSpawner
+~~~~~~~~~~~~~~~~~~~
+
+The RuntimeSpawner (included in library "SpawnerRuntimeCommon_OSI") is responsible for maintaining a populated scenery throughout the simulation runtime.
+It acts at each timestep throughout the simulation run and attempts to spawn Common Agents at the specified location(s).
+The RuntimeSpawner needs a list of Spawners that define where it will spawn agents and a list of weighted :ref:`components_trafficgroups` that defines the type and parameters of the spawned agents.
+The Spawners have the following parameters:
+
+.. table::
+ :class: tight-table
+
+ ========== ============ ==== ==============================================================
+ Parameter Type Unit Description
+ ========== ============ ==== ==============================================================
+ Roads StringVector The RoadIDs of the Roads on which to spawn Agents
+ Lanes IntVector The LaneIDs of the Lanes of the Road on which to spawn Agents
+ S-Position Double m The S position specifying at which point to spawn Agents
+ ========== ============ ==== ==============================================================
+
+It is also possible to define the minimum gap in meters either as fixed parameter of type double or as stochastic distribution.
+If it isn't defined the default value of 5m is used.
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
+ :language: xml
+ :dedent: 4
+ :start-at: <Profile Name="DefaultRuntimeCommon">
+ :end-at: </Profile>
+
+The RuntimeSpawner will spawn based on the following logic:
+
+- First the agentprofile needs to be determined. If the current spawn position evaluates to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.
+- Then the time gap between the new agent and the closest existing agent is sampled.
+- Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.
+- A random route is sampled starting at the appropriate road
+- Once the timely gap expires, the spawnpoint evaluate if the TTC (2s) conditions and a minimum required distance between agents (5m) are met. If the TTC is critical the spawn velocity is reduced to fullfill the TTC requriements. If the minimum distance is not fullfilled, the agent will be held back.
+- If all requirements were fullfilled the agent is spawned.
+
+The RuntimeSpawner only spawns on the following OpenDRIVE lane types: Driving, OnRamp
+
+.. _components_trafficgroups:
+
+TrafficGroups
+~~~~~~~~~~~~~
+
+Both the :ref:`components_prerunspawner` and the :ref:`components_runtimespawner` need one or more TrafficGroup.
+These are typically defined in a separate ProfileGroup of type "TrafficGroup" and then reference by the spawner profile.
+In this way both spawner can use the same TrafficGroups.
+
+.. table::
+ :class: tight-table
+
+ ============= ============= ==== =======================================================================================================================================================================
+ Parameter Type Unit Description
+ ============= ============= ==== =======================================================================================================================================================================
+ AgentProfiles <List> A set of <ListItem>s which define potential AgentProfile values for the Agents spawned in the SpawnArea and the probability at which the TrafficVolume will be selected
+ Velocity Distribution m/s A stochastic distribution describing the velocity of the spawned Agents
+ TGap Distribution s A stochastic distribution describing the time gap between spawned Agents
+ Homogeneity DoubleVector OPTIONAL: A vector describing the velocity increments for left lanes
+ RightLaneOnly Bool OPTIONAL: A flag determining whether this TrafficGroup can only be applied to the right most lane
+ ============= ============= ==== =======================================================================================================================================================================
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Common/ProfilesCatalog.xml
+ :language: xml
+ :dedent: 4
+ :start-at: <Profile Name="LightVehicles">
+ :end-at: </Profile>
diff --git a/content/html/_sources/user_guide/sim_user_guide/components/vehicle.rst.txt b/content/html/_sources/user_guide/sim_user_guide/components/vehicle.rst.txt
index 50eaa67..f664fce 100644
--- a/content/html/_sources/user_guide/sim_user_guide/components/vehicle.rst.txt
+++ b/content/html/_sources/user_guide/sim_user_guide/components/vehicle.rst.txt
@@ -1,109 +1,109 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _components_vehiclecomponents:
-
-VehicleComponents
------------------
-
-.. _components_aeb:
-
-AEB
-~~~
-
-The Autonomous Emergency Braking system checks if a collision is likely to occur in the near future and, if necessary, brakes to avoid the collision.
-In each timestep, the system evaluates all objects detected by a Sensor and calculates the time to collision (TTC) for this object based on the perceived movement of the object.
-If, for any object, the TTC is lower than the threshold of the component, then the component gets activated. The system deactivates if the TTC is larger than 1,5 times the threshold of the component.
-
-.. table::
- :class: tight-table
-
- ====================================== ====== ==== ===================================================================================
- Attribute Type Unit Description
- ====================================== ====== ==== ===================================================================================
- CollisionDetectionLongitudinalBoundary Double m Additional length added the vehicle boundary when checking for collision detection
- CollisionDetectionLateralBoundary Double m Additional width added the vehicle boundary when checking for collision detection
- TTC Double s Time to collision which is used to trigger AEB
- Acceleration Double m/s² Braking acceleration when activated
- ====================================== ====== ==== ===================================================================================
-
-.. code-block:: xml
-
- <ProfileGroup Type="AEB">
- <Profile Type="AEB" Name="AEB1">
- <Double Key="CollisionDetectionLongitudinalBoundary" Value="4.0"/>
- <Double Key="CollisionDetectionLateralBoundary" Value="1.5"/>
- <Double Key="TTC" Value="2.0"/>
- <Double Key="Acceleration" Value="-2"/>
- </Profile>
- ...
- </ProfileGroup>
-
-.. _components_trajectoryfollower:
-
-DynamicsTrajectoryFollower
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-This module forces agents to drive according to a specific trajectory. The trajectory is defined in the scenario. This module is disabled by default and is activated if a trajectory from openSCENARIO is triggered.
-It is always important that the trajectories matches the current scenery file, otherwise the Agent could be placed outside of valid lanes. If the agent gets placed on a invalid position, it will be deleted.
-
-All attributes are required.
-
-.. table::
- :class: tight-table
-
- ===================== ==== =======================================================================================================================
- Attribute Type Description
- ===================== ==== =======================================================================================================================
- AutomaticDeactivation Bool If true, the trajectory follower relinquishes control of the vehicle after the final instruction in the TrajectoryFile.
- EnforceTrajectory Bool If true, the trajectory follower overrides external input related to the vehicle's travel.
- ===================== ==== =======================================================================================================================
-
-.. code-block:: xml
-
- <ProfileGroup Type="DynamicsTrajectoryFollower">
- <Profile Name="BasicTrajectoryFollower">
- <Bool Key="AutomaticDeactivation" Value="true"/>
- <Bool Key="EnforceTrajectory" Value="true"/>
- </Profile>
- </ProfileGroup>
-
-.. _components_geometric2d:
-
-SensorGeometric2D
-~~~~~~~~~~~~~~~~~
-
-This sensor is selected, when a sensor is parameterized as ProfileGroup "Geometric2D".
-
-.. table::
- :class: tight-table
-
- =============================== ====== ==== ==================================================================================================
- Parameter Type Unit Description
- =============================== ====== ==== ==================================================================================================
- DetectionRange Double m Detection range
- EnableVisualObstruction Bool Activates 2D sensor obstruction calculation
- FailureProbability Double Probability of an object detection failure
- Latency Double s Sensor latency
- OpeningAngleH Double rad Horizontal opening angle
- RequiredPercentageOfVisibleArea Double Required percentage of an object within the sensor cone to trigger a detection
- =============================== ====== ==== ==================================================================================================
-
-.. literalinclude:: /../../../sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml
- :language: xml
- :dedent: 2
- :start-at: <ProfileGroup Type="Geometric2D">
- :end-at: </ProfileGroup>
-
-.. note::
-
- Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
- See also :ref:`profilescatalog_vehicleprofiles`.
+..
+ *******************************************************************************
+ Copyright (c) 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _components_vehiclecomponents:
+
+VehicleComponents
+-----------------
+
+.. _components_aeb:
+
+AEB
+~~~
+
+The Autonomous Emergency Braking system checks if a collision is likely to occur in the near future and, if necessary, brakes to avoid the collision.
+In each timestep, the system evaluates all objects detected by a Sensor and calculates the time to collision (TTC) for this object based on the perceived movement of the object.
+If, for any object, the TTC is lower than the threshold of the component, then the component gets activated. The system deactivates if the TTC is larger than 1,5 times the threshold of the component.
+
+.. table::
+ :class: tight-table
+
+ ====================================== ====== ==== ===================================================================================
+ Attribute Type Unit Description
+ ====================================== ====== ==== ===================================================================================
+ CollisionDetectionLongitudinalBoundary Double m Additional length added the vehicle boundary when checking for collision detection
+ CollisionDetectionLateralBoundary Double m Additional width added the vehicle boundary when checking for collision detection
+ TTC Double s Time to collision which is used to trigger AEB
+ Acceleration Double m/s² Braking acceleration when activated
+ ====================================== ====== ==== ===================================================================================
+
+.. code-block:: xml
+
+ <ProfileGroup Type="AEB">
+ <Profile Type="AEB" Name="AEB1">
+ <Double Key="CollisionDetectionLongitudinalBoundary" Value="4.0"/>
+ <Double Key="CollisionDetectionLateralBoundary" Value="1.5"/>
+ <Double Key="TTC" Value="2.0"/>
+ <Double Key="Acceleration" Value="-2"/>
+ </Profile>
+ ...
+ </ProfileGroup>
+
+.. _components_trajectoryfollower:
+
+DynamicsTrajectoryFollower
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+This module forces agents to drive according to a specific trajectory. The trajectory is defined in the scenario. This module is disabled by default and is activated if a trajectory from openSCENARIO is triggered.
+It is always important that the trajectories matches the current scenery file, otherwise the Agent could be placed outside of valid lanes. If the agent gets placed on a invalid position, it will be deleted.
+
+All attributes are required.
+
+.. table::
+ :class: tight-table
+
+ ===================== ==== =======================================================================================================================
+ Attribute Type Description
+ ===================== ==== =======================================================================================================================
+ AutomaticDeactivation Bool If true, the trajectory follower relinquishes control of the vehicle after the final instruction in the TrajectoryFile.
+ EnforceTrajectory Bool If true, the trajectory follower overrides external input related to the vehicle's travel.
+ ===================== ==== =======================================================================================================================
+
+.. code-block:: xml
+
+ <ProfileGroup Type="DynamicsTrajectoryFollower">
+ <Profile Name="BasicTrajectoryFollower">
+ <Bool Key="AutomaticDeactivation" Value="true"/>
+ <Bool Key="EnforceTrajectory" Value="true"/>
+ </Profile>
+ </ProfileGroup>
+
+.. _components_geometric2d:
+
+SensorGeometric2D
+~~~~~~~~~~~~~~~~~
+
+This sensor is selected, when a sensor is parameterized as ProfileGroup "Geometric2D".
+
+.. table::
+ :class: tight-table
+
+ =============================== ====== ==== ==================================================================================================
+ Parameter Type Unit Description
+ =============================== ====== ==== ==================================================================================================
+ DetectionRange Double m Detection range
+ EnableVisualObstruction Bool Activates 2D sensor obstruction calculation
+ FailureProbability Double Probability of an object detection failure
+ Latency Double s Sensor latency
+ OpeningAngleH Double rad Horizontal opening angle
+ RequiredPercentageOfVisibleArea Double Required percentage of an object within the sensor cone to trigger a detection
+ =============================== ====== ==== ==================================================================================================
+
+.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml
+ :language: xml
+ :dedent: 2
+ :start-at: <ProfileGroup Type="Geometric2D">
+ :end-at: </ProfileGroup>
+
+.. note::
+
+ Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
+ See also :ref:`profilescatalog_vehicleprofiles`.
diff --git a/content/html/_sources/user_guide/sim_user_guide/examples/basic.rst.txt b/content/html/_sources/user_guide/sim_user_guide/examples/basic.rst.txt
deleted file mode 100644
index 999d7ce..0000000
--- a/content/html/_sources/user_guide/sim_user_guide/examples/basic.rst.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-Basic Example
-=============
-
-.. todo:: Add basic example
diff --git a/content/html/_sources/user_guide/sim_user_guide/input/staticsystemconfig.rst.txt b/content/html/_sources/user_guide/sim_user_guide/input/staticsystemconfig.rst.txt
deleted file mode 100644
index 784fc7e..0000000
--- a/content/html/_sources/user_guide/sim_user_guide/input/staticsystemconfig.rst.txt
+++ /dev/null
@@ -1,19 +0,0 @@
-..
- ************************************************************
- Copyright (c) 2021 in-tech GmbH
-
- This program and the accompanying materials are made
- available under the terms of the Eclipse Public License 2.0
- which is available at https://www.eclipse.org/legal/epl-2.0/
-
- SPDX-License-Identifier: EPL-2.0
- ************************************************************
-
-.. _staticsystemconfig:
-
-Static SystemConfig
-===================
-
-SystemConfig files are optional.
-They describe static configurations of agents and are therefore an alternative to the dynamic sampling of an agent during runtime.
-The schema is the same as for the :ref:`systemconfigblueprint`.
diff --git a/content/html/_sources/user_guide/tutorials/10_scenario_simulation.rst.txt b/content/html/_sources/user_guide/tutorials/10_scenario_simulation.rst.txt
new file mode 100644
index 0000000..9f33a7e
--- /dev/null
+++ b/content/html/_sources/user_guide/tutorials/10_scenario_simulation.rst.txt
@@ -0,0 +1,113 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ 2021 in-tech GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+Scenario-based simulation
+=========================
+
+This guide describes how to execute an exemplary simulation with openPASS.
+
+The simulation runs a scenario which is set up for triggering an AEB system.
+The scenario contains two agents: The ego agent and a scenario agent.
+The ego vehicle is equipped with an AEB system (the system under test).
+The scenario agent performs a cut-in and triggers as a result the AEB system of the ego agent.
+To force this exact maneuver, the scenario agent is set up to follow a predefined trajectory.
+
+The GUI is not yet capable of configuring and executing a scenario based simulation as this is currently work in progress.
+Thus, an existing simulation configuration is used and the simulation is started manually.
+
+**Step-by-step instructions**
+
+#. Navigate into |op| install directory (e.g. ``C:\OpenPASS``)
+
+#. Install directory should look like the following
+
+ ::
+
+ OpenPASS-Install-Dir
+ ├── bin
+ └── configs <-- this directory will be created in the next step
+ └── examples
+ │ ├── Configurations
+ │ └── DefaultConfigurations
+ └── doc
+ └── examples
+ └── lib
+ │ ...
+ └── opSimulation.exe
+
+#. Create a new folder named "configs" for the configuration files within the |op| install directory
+
+#. Copy configuration files
+
+ Simulations for |op| are fully configured through configuration files.
+ Examples for |op| configuration files are located in the directory ``examples`` and are divided into two groups: *Default configurations* and *specific configurations*.
+
+ a. The *default configuration* files located under ``examples/DefaultConfigurations`` contain the basis for any simulation.
+
+ i. Copy all files from the directory ``examples/DefaultConfigurations`` to the previously created folder ``configs``.
+
+ b. The *specific configuration* files located under ``examples/Configurations`` complement the default configuration files. Examples are provided for different simulations.
+
+ i. Ensure all files from directory ``examples/DefaultConfigurations`` have been copied to ``configs`` (this has been done in the previous step). Repeat this step every time another simulation is chosen.
+
+ ii. Navigate to the directory ``examples/Configurations``. Here, all folders contain special pre-configured simulations (which either can be used as demo cases or as end-to-end test cases primarily used for development).
+
+ iii. Copy all files from the directory specifying the specific scenario you want to simulate (in our case all files from directory ``examples/Configurations/AEB``) to the directory ``configs``. Overwrite existing files when prompted.
+
+ .. note::
+
+ A detailed description of the various configuration files can be found under see :ref:`configs_in_depth`.
+
+#. Learn how to modify configuration files
+
+ If one wants to edit the configurations (e.g. experiment set-up or parameters of specific scenario) placed under ``configs``, one can do so by changing any of the following files:
+
+ ::
+
+ configs
+ ├── PedestrianModelsCatalog.xosc
+ ├── ProfilesCatalog.xml
+ ├── Scenario.xosc
+ ├── SceneryConfiguration.xodr
+ ├── simulationConfig.xml
+ ├── systemConfigBlueprint.xml
+ └── VehicleModelsCatalog.xosc
+
+
+ As an example, modifications of the configuration files that describe the AEB scenario are given.
+ The following list describes some relevant adjustments that may be useful.
+
+ a. ``ProfilesCatalog.xml``:
+
+ * The AEB system and sensor parameters, e.g. „TTC“, „DetectionRange“, can be adjusted.
+ * The spawner parameters, such as the traffic volume or the velocity of the surrounding traffic, can be modified in the existing spawner profiles.
+
+ b. ``Scenario.xosc``:
+
+ * The scenario set-up contains the initial positions und velocities of the ego and scenario agent.
+ * The trajectory that defines the cut-in maneuver of the scenario agent is defined and editable here.
+ * The overall simulation time, which determines the end condition of the simulation in seconds, can be adjusted.
+
+ c. ``simulationConfig.xml``:
+
+ * The number of invocations can be changed in case more than one run is desired to be simulated. This will incorporate stochastic variation (i.e. initial constellation of surrounding traffic)
+ * If surrounding traffic is not desired in the experiment, the spawner libraries "SpawnPointPreRunCommon" and "SpawnPointRuntimeCommon" can be deactivated by removing the corresponding sections. Only the "SpawnPointScenario" is mandatory to spawn the ego and scenario agent. More information on the functionality of spawners can be found in :ref:`components_spawner`.
+ * The output format can be modified by setting the parameter "LoggingCyclicsToCsv" to true.
+
+#. Start the simulation by double-clicking ``opSimulation.exe`` or from the console by calling the executable.
+
+#. Once the simulation is successfully completed, the following results can be found in the directory ``results``:
+
+ * ``simulationOutput.xml``: Contains general information about the experiment and an overview on all agents from the simulation. Further, an event log is contained. If the csv-output is set to false in the ``simulationConfig.xml``, the ``simulationOutput.xml`` will also include the „cyclics” (state in each time step) of the simulation.
+ * ``Cyclics_Run_xxx.csv``: In case the csv-output is activated, the „cyclics” of each run in the simulation are logged to a separated csv-file. This file is missing, if "cyclics" are written directly to the ``simulationOutput.xml`` (i.e. when "LoggingCyclicsToCsv" is set to false).
+ * ``Repository_Run_xxx.csv``: Overview of the agents and objects from the simulation as well as some details on scenery components like lane markings, guard rails, etc.
+
diff --git a/content/html/_sources/user_guide/tutorials/20_pcm_simulation.rst.txt b/content/html/_sources/user_guide/tutorials/20_pcm_simulation.rst.txt
new file mode 100644
index 0000000..9ef165d
--- /dev/null
+++ b/content/html/_sources/user_guide/tutorials/20_pcm_simulation.rst.txt
@@ -0,0 +1,18 @@
+..
+ *******************************************************************************
+ Copyright (c) 2021 ITK Engineering GmbH
+
+ This program and the accompanying materials are made available under the
+ terms of the Eclipse Public License 2.0 which is available at
+ http://www.eclipse.org/legal/epl-2.0.
+
+ SPDX-License-Identifier: EPL-2.0
+ *******************************************************************************
+
+.. _pcm_simulation_guide:
+
+PCM Simulation
+==============
+
+.. todo::
+ Write tutorial for PCM simulation
diff --git a/content/html/_static/basic.css b/content/html/_static/basic.css
index aa9df31..f29e292 100644
--- a/content/html/_static/basic.css
+++ b/content/html/_static/basic.css
@@ -1,904 +1,861 @@
-/*
- * basic.css
- * ~~~~~~~~~
- *
- * Sphinx stylesheet -- basic theme.
- *
- * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
- * :license: BSD, see LICENSE for details.
- *
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- div.sphinxsidebar,
- div.related,
- div.footer,
- #top-link {
- display: none;
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+/*
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+ * Sphinx stylesheet -- basic theme.
+ *
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
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+ *
+ */
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+}
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+ display: block;
+ content: '';
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+}
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+ font-size: 90%;
+}
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+}
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+ display: inline;
+}
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+ float: right;
+ margin-right: 5px;
+}
+
+/* -- sidebar --------------------------------------------------------------- */
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+ padding: 10px 5px 0 10px;
+}
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+ margin-left: -100%;
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+}
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+}
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+}
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+}
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+ padding: 0.25em;
+ box-sizing: border-box;
+}
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+ width: 20%;
+ border-left: none;
+ padding: 0.25em;
+ box-sizing: border-box;
+}
+
+
+img {
+ border: 0;
+ max-width: 100%;
+}
+
+/* -- search page ----------------------------------------------------------- */
+
+ul.search {
+ margin: 10px 0 0 20px;
+ padding: 0;
+}
+
+ul.search li {
+ padding: 5px 0 5px 20px;
+ background-image: url(file.png);
+ background-repeat: no-repeat;
+ background-position: 0 7px;
+}
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+ font-weight: bold;
+}
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+ color: #888;
+ margin: 2px 0 0 30px;
+ text-align: left;
+}
+
+ul.keywordmatches li.goodmatch a {
+ font-weight: bold;
+}
+
+/* -- index page ------------------------------------------------------------ */
+
+table.contentstable {
+ width: 90%;
+ margin-left: auto;
+ margin-right: auto;
+}
+
+table.contentstable p.biglink {
+ line-height: 150%;
+}
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+ font-size: 1.3em;
+}
+
+span.linkdescr {
+ font-style: italic;
+ padding-top: 5px;
+ font-size: 90%;
+}
+
+/* -- general index --------------------------------------------------------- */
+
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+ width: 100%;
+}
+
+table.indextable td {
+ text-align: left;
+ vertical-align: top;
+}
+
+table.indextable ul {
+ margin-top: 0;
+ margin-bottom: 0;
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+}
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+}
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+}
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+ margin-top: 10px;
+ background-color: #f2f2f2;
+}
+
+img.toggler {
+ margin-right: 3px;
+ margin-top: 3px;
+ cursor: pointer;
+}
+
+div.modindex-jumpbox {
+ border-top: 1px solid #ddd;
+ border-bottom: 1px solid #ddd;
+ margin: 1em 0 1em 0;
+ padding: 0.4em;
+}
+
+div.genindex-jumpbox {
+ border-top: 1px solid #ddd;
+ border-bottom: 1px solid #ddd;
+ margin: 1em 0 1em 0;
+ padding: 0.4em;
+}
+
+/* -- domain module index --------------------------------------------------- */
+
+table.modindextable td {
+ padding: 2px;
+ border-collapse: collapse;
+}
+
+/* -- general body styles --------------------------------------------------- */
+
+div.body {
+ min-width: 450px;
+ max-width: 800px;
+}
+
+div.body p, div.body dd, div.body li, div.body blockquote {
+ -moz-hyphens: auto;
+ -ms-hyphens: auto;
+ -webkit-hyphens: auto;
+ hyphens: auto;
+}
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+a.headerlink {
+ visibility: hidden;
+}
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+a.brackets:before,
+span.brackets > a:before{
+ content: "[";
+}
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+a.brackets:after,
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+}
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+h1:hover > a.headerlink,
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+div.code-block-caption:hover > a.headerlink {
+ visibility: visible;
+}
+
+div.body p.caption {
+ text-align: inherit;
+}
+
+div.body td {
+ text-align: left;
+}
+
+.first {
+ margin-top: 0 !important;
+}
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+p.rubric {
+ margin-top: 30px;
+ font-weight: bold;
+}
+
+img.align-left, figure.align-left, .figure.align-left, object.align-left {
+ clear: left;
+ float: left;
+ margin-right: 1em;
+}
+
+img.align-right, figure.align-right, .figure.align-right, object.align-right {
+ clear: right;
+ float: right;
+ margin-left: 1em;
+}
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+img.align-center, figure.align-center, .figure.align-center, object.align-center {
+ display: block;
+ margin-left: auto;
+ margin-right: auto;
+}
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+ display: block;
+ margin-left: auto;
+ margin-right: auto;
+}
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+ text-align: left;
+}
+
+.align-center {
+ text-align: center;
+}
+
+.align-default {
+ text-align: center;
+}
+
+.align-right {
+ text-align: right;
+}
+
+/* -- sidebars -------------------------------------------------------------- */
+
+div.sidebar,
+aside.sidebar {
+ margin: 0 0 0.5em 1em;
+ border: 1px solid #ddb;
+ padding: 7px;
+ background-color: #ffe;
+ width: 40%;
+ float: right;
+ clear: right;
+ overflow-x: auto;
+}
+
+p.sidebar-title {
+ font-weight: bold;
+}
+
+div.admonition, div.topic, blockquote {
+ clear: left;
+}
+
+/* -- topics ---------------------------------------------------------------- */
+
+div.topic {
+ border: 1px solid #ccc;
+ padding: 7px;
+ margin: 10px 0 10px 0;
+}
+
+p.topic-title {
+ font-size: 1.1em;
+ font-weight: bold;
+ margin-top: 10px;
+}
+
+/* -- admonitions ----------------------------------------------------------- */
+
+div.admonition {
+ margin-top: 10px;
+ margin-bottom: 10px;
+ padding: 7px;
+}
+
+div.admonition dt {
+ font-weight: bold;
+}
+
+p.admonition-title {
+ margin: 0px 10px 5px 0px;
+ font-weight: bold;
+}
+
+div.body p.centered {
+ text-align: center;
+ margin-top: 25px;
+}
+
+/* -- content of sidebars/topics/admonitions -------------------------------- */
+
+div.sidebar > :last-child,
+aside.sidebar > :last-child,
+div.topic > :last-child,
+div.admonition > :last-child {
+ margin-bottom: 0;
+}
+
+div.sidebar::after,
+aside.sidebar::after,
+div.topic::after,
+div.admonition::after,
+blockquote::after {
+ display: block;
+ content: '';
+ clear: both;
+}
+
+/* -- tables ---------------------------------------------------------------- */
+
+table.docutils {
+ margin-top: 10px;
+ margin-bottom: 10px;
+ border: 0;
+ border-collapse: collapse;
+}
+
+table.align-center {
+ margin-left: auto;
+ margin-right: auto;
+}
+
+table.align-default {
+ margin-left: auto;
+ margin-right: auto;
+}
+
+table caption span.caption-number {
+ font-style: italic;
+}
+
+table caption span.caption-text {
+}
+
+table.docutils td, table.docutils th {
+ padding: 1px 8px 1px 5px;
+ border-top: 0;
+ border-left: 0;
+ border-right: 0;
+ border-bottom: 1px solid #aaa;
+}
+
+table.footnote td, table.footnote th {
+ border: 0 !important;
+}
+
+th {
+ text-align: left;
+ padding-right: 5px;
+}
+
+table.citation {
+ border-left: solid 1px gray;
+ margin-left: 1px;
+}
+
+table.citation td {
+ border-bottom: none;
+}
+
+th > :first-child,
+td > :first-child {
+ margin-top: 0px;
+}
+
+th > :last-child,
+td > :last-child {
+ margin-bottom: 0px;
+}
+
+/* -- figures --------------------------------------------------------------- */
+
+div.figure, figure {
+ margin: 0.5em;
+ padding: 0.5em;
+}
+
+div.figure p.caption, figcaption {
+ padding: 0.3em;
+}
+
+div.figure p.caption span.caption-number,
+figcaption span.caption-number {
+ font-style: italic;
+}
+
+div.figure p.caption span.caption-text,
+figcaption span.caption-text {
+}
+
+/* -- field list styles ----------------------------------------------------- */
+
+table.field-list td, table.field-list th {
+ border: 0 !important;
+}
+
+.field-list ul {
+ margin: 0;
+ padding-left: 1em;
+}
+
+.field-list p {
+ margin: 0;
+}
+
+.field-name {
+ -moz-hyphens: manual;
+ -ms-hyphens: manual;
+ -webkit-hyphens: manual;
+ hyphens: manual;
+}
+
+/* -- hlist styles ---------------------------------------------------------- */
+
+table.hlist {
+ margin: 1em 0;
+}
+
+table.hlist td {
+ vertical-align: top;
+}
+
+
+/* -- other body styles ----------------------------------------------------- */
+
+ol.arabic {
+ list-style: decimal;
+}
+
+ol.loweralpha {
+ list-style: lower-alpha;
+}
+
+ol.upperalpha {
+ list-style: upper-alpha;
+}
+
+ol.lowerroman {
+ list-style: lower-roman;
+}
+
+ol.upperroman {
+ list-style: upper-roman;
+}
+
+:not(li) > ol > li:first-child > :first-child,
+:not(li) > ul > li:first-child > :first-child {
+ margin-top: 0px;
+}
+
+:not(li) > ol > li:last-child > :last-child,
+:not(li) > ul > li:last-child > :last-child {
+ margin-bottom: 0px;
+}
+
+ol.simple ol p,
+ol.simple ul p,
+ul.simple ol p,
+ul.simple ul p {
+ margin-top: 0;
+}
+
+ol.simple > li:not(:first-child) > p,
+ul.simple > li:not(:first-child) > p {
+ margin-top: 0;
+}
+
+ol.simple p,
+ul.simple p {
+ margin-bottom: 0;
+}
+
+dl.footnote > dt,
+dl.citation > dt {
+ float: left;
+ margin-right: 0.5em;
+}
+
+dl.footnote > dd,
+dl.citation > dd {
+ margin-bottom: 0em;
+}
+
+dl.footnote > dd:after,
+dl.citation > dd:after {
+ content: "";
+ clear: both;
+}
+
+dl.field-list {
+ display: grid;
+ grid-template-columns: fit-content(30%) auto;
+}
+
+dl.field-list > dt {
+ font-weight: bold;
+ word-break: break-word;
+ padding-left: 0.5em;
+ padding-right: 5px;
+}
+
+dl.field-list > dt:after {
+ content: ":";
+}
+
+dl.field-list > dd {
+ padding-left: 0.5em;
+ margin-top: 0em;
+ margin-left: 0em;
+ margin-bottom: 0em;
+}
+
+dl {
+ margin-bottom: 15px;
+}
+
+dd > :first-child {
+ margin-top: 0px;
+}
+
+dd ul, dd table {
+ margin-bottom: 10px;
+}
+
+dd {
+ margin-top: 3px;
+ margin-bottom: 10px;
+ margin-left: 30px;
+}
+
+dl > dd:last-child,
+dl > dd:last-child > :last-child {
+ margin-bottom: 0;
+}
+
+dt:target, span.highlighted {
+ background-color: #fbe54e;
+}
+
+rect.highlighted {
+ fill: #fbe54e;
+}
+
+dl.glossary dt {
+ font-weight: bold;
+ font-size: 1.1em;
+}
+
+.optional {
+ font-size: 1.3em;
+}
+
+.sig-paren {
+ font-size: larger;
+}
+
+.versionmodified {
+ font-style: italic;
+}
+
+.system-message {
+ background-color: #fda;
+ padding: 5px;
+ border: 3px solid red;
+}
+
+.footnote:target {
+ background-color: #ffa;
+}
+
+.line-block {
+ display: block;
+ margin-top: 1em;
+ margin-bottom: 1em;
+}
+
+.line-block .line-block {
+ margin-top: 0;
+ margin-bottom: 0;
+ margin-left: 1.5em;
+}
+
+.guilabel, .menuselection {
+ font-family: sans-serif;
+}
+
+.accelerator {
+ text-decoration: underline;
+}
+
+.classifier {
+ font-style: oblique;
+}
+
+.classifier:before {
+ font-style: normal;
+ margin: 0.5em;
+ content: ":";
+}
+
+abbr, acronym {
+ border-bottom: dotted 1px;
+ cursor: help;
+}
+
+/* -- code displays --------------------------------------------------------- */
+
+pre {
+ overflow: auto;
+ overflow-y: hidden; /* fixes display issues on Chrome browsers */
+}
+
+pre, div[class*="highlight-"] {
+ clear: both;
+}
+
+span.pre {
+ -moz-hyphens: none;
+ -ms-hyphens: none;
+ -webkit-hyphens: none;
+ hyphens: none;
+}
+
+div[class*="highlight-"] {
+ margin: 1em 0;
+}
+
+td.linenos pre {
+ border: 0;
+ background-color: transparent;
+ color: #aaa;
+}
+
+table.highlighttable {
+ display: block;
+}
+
+table.highlighttable tbody {
+ display: block;
+}
+
+table.highlighttable tr {
+ display: flex;
+}
+
+table.highlighttable td {
+ margin: 0;
+ padding: 0;
+}
+
+table.highlighttable td.linenos {
+ padding-right: 0.5em;
+}
+
+table.highlighttable td.code {
+ flex: 1;
+ overflow: hidden;
+}
+
+.highlight .hll {
+ display: block;
+}
+
+div.highlight pre,
+table.highlighttable pre {
+ margin: 0;
+}
+
+div.code-block-caption + div {
+ margin-top: 0;
+}
+
+div.code-block-caption {
+ margin-top: 1em;
+ padding: 2px 5px;
+ font-size: small;
+}
+
+div.code-block-caption code {
+ background-color: transparent;
+}
+
+table.highlighttable td.linenos,
+span.linenos,
+div.doctest > div.highlight span.gp { /* gp: Generic.Prompt */
+ user-select: none;
+}
+
+div.code-block-caption span.caption-number {
+ padding: 0.1em 0.3em;
+ font-style: italic;
+}
+
+div.code-block-caption span.caption-text {
+}
+
+div.literal-block-wrapper {
+ margin: 1em 0;
+}
+
+code.descname {
+ background-color: transparent;
+ font-weight: bold;
+ font-size: 1.2em;
+}
+
+code.descclassname {
+ background-color: transparent;
+}
+
+code.xref, a code {
+ background-color: transparent;
+ font-weight: bold;
+}
+
+h1 code, h2 code, h3 code, h4 code, h5 code, h6 code {
+ background-color: transparent;
+}
+
+.viewcode-link {
+ float: right;
+}
+
+.viewcode-back {
+ float: right;
+ font-family: sans-serif;
+}
+
+div.viewcode-block:target {
+ margin: -1px -10px;
+ padding: 0 10px;
+}
+
+/* -- math display ---------------------------------------------------------- */
+
+img.math {
+ vertical-align: middle;
+}
+
+div.body div.math p {
+ text-align: center;
+}
+
+span.eqno {
+ float: right;
+}
+
+span.eqno a.headerlink {
+ position: absolute;
+ z-index: 1;
+}
+
+div.math:hover a.headerlink {
+ visibility: visible;
+}
+
+/* -- printout stylesheet --------------------------------------------------- */
+
+@media print {
+ div.document,
+ div.documentwrapper,
+ div.bodywrapper {
+ margin: 0 !important;
+ width: 100%;
+ }
+
+ div.sphinxsidebar,
+ div.related,
+ div.footer,
+ #top-link {
+ display: none;
+ }
}
\ No newline at end of file
diff --git a/content/html/_static/documentation_options.js b/content/html/_static/documentation_options.js
index 7b8e990..8679c72 100644
--- a/content/html/_static/documentation_options.js
+++ b/content/html/_static/documentation_options.js
@@ -1,12 +1,12 @@
-var DOCUMENTATION_OPTIONS = {
- URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'),
- VERSION: '9999.9999.9999',
- LANGUAGE: 'None',
- COLLAPSE_INDEX: false,
- BUILDER: 'html',
- FILE_SUFFIX: '.html',
- LINK_SUFFIX: '.html',
- HAS_SOURCE: true,
- SOURCELINK_SUFFIX: '.txt',
- NAVIGATION_WITH_KEYS: false
+var DOCUMENTATION_OPTIONS = {
+ URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'),
+ VERSION: '"0.8.0"',
+ LANGUAGE: 'None',
+ COLLAPSE_INDEX: false,
+ BUILDER: 'html',
+ FILE_SUFFIX: '.html',
+ LINK_SUFFIX: '.html',
+ HAS_SOURCE: true,
+ SOURCELINK_SUFFIX: '.txt',
+ NAVIGATION_WITH_KEYS: false
};
\ No newline at end of file
diff --git a/content/html/_static/language_data.js b/content/html/_static/language_data.js
index 863704b..70c1c29 100644
--- a/content/html/_static/language_data.js
+++ b/content/html/_static/language_data.js
@@ -1,297 +1,297 @@
-/*
- * language_data.js
- * ~~~~~~~~~~~~~~~~
- *
- * This script contains the language-specific data used by searchtools.js,
- * namely the list of stopwords, stemmer, scorer and splitter.
- *
- * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
- * :license: BSD, see LICENSE for details.
- *
- */
-
-var stopwords = ["a","and","are","as","at","be","but","by","for","if","in","into","is","it","near","no","not","of","on","or","such","that","the","their","then","there","these","they","this","to","was","will","with"];
-
-
-/* Non-minified version is copied as a separate JS file, is available */
-
-/**
- * Porter Stemmer
- */
-var Stemmer = function() {
-
- var step2list = {
- ational: 'ate',
- tional: 'tion',
- enci: 'ence',
- anci: 'ance',
- izer: 'ize',
- bli: 'ble',
- alli: 'al',
- entli: 'ent',
- eli: 'e',
- ousli: 'ous',
- ization: 'ize',
- ation: 'ate',
- ator: 'ate',
- alism: 'al',
- iveness: 'ive',
- fulness: 'ful',
- ousness: 'ous',
- aliti: 'al',
- iviti: 'ive',
- biliti: 'ble',
- logi: 'log'
- };
-
- var step3list = {
- icate: 'ic',
- ative: '',
- alize: 'al',
- iciti: 'ic',
- ical: 'ic',
- ful: '',
- ness: ''
- };
-
- var c = "[^aeiou]"; // consonant
- var v = "[aeiouy]"; // vowel
- var C = c + "[^aeiouy]*"; // consonant sequence
- var V = v + "[aeiou]*"; // vowel sequence
-
- var mgr0 = "^(" + C + ")?" + V + C; // [C]VC... is m>0
- var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$"; // [C]VC[V] is m=1
- var mgr1 = "^(" + C + ")?" + V + C + V + C; // [C]VCVC... is m>1
- var s_v = "^(" + C + ")?" + v; // vowel in stem
-
- this.stemWord = function (w) {
- var stem;
- var suffix;
- var firstch;
- var origword = w;
-
- if (w.length < 3)
- return w;
-
- var re;
- var re2;
- var re3;
- var re4;
-
- firstch = w.substr(0,1);
- if (firstch == "y")
- w = firstch.toUpperCase() + w.substr(1);
-
- // Step 1a
- re = /^(.+?)(ss|i)es$/;
- re2 = /^(.+?)([^s])s$/;
-
- if (re.test(w))
- w = w.replace(re,"$1$2");
- else if (re2.test(w))
- w = w.replace(re2,"$1$2");
-
- // Step 1b
- re = /^(.+?)eed$/;
- re2 = /^(.+?)(ed|ing)$/;
- if (re.test(w)) {
- var fp = re.exec(w);
- re = new RegExp(mgr0);
- if (re.test(fp[1])) {
- re = /.$/;
- w = w.replace(re,"");
- }
- }
- else if (re2.test(w)) {
- var fp = re2.exec(w);
- stem = fp[1];
- re2 = new RegExp(s_v);
- if (re2.test(stem)) {
- w = stem;
- re2 = /(at|bl|iz)$/;
- re3 = new RegExp("([^aeiouylsz])\\1$");
- re4 = new RegExp("^" + C + v + "[^aeiouwxy]$");
- if (re2.test(w))
- w = w + "e";
- else if (re3.test(w)) {
- re = /.$/;
- w = w.replace(re,"");
- }
- else if (re4.test(w))
- w = w + "e";
- }
- }
-
- // Step 1c
- re = /^(.+?)y$/;
- if (re.test(w)) {
- var fp = re.exec(w);
- stem = fp[1];
- re = new RegExp(s_v);
- if (re.test(stem))
- w = stem + "i";
- }
-
- // Step 2
- re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;
- if (re.test(w)) {
- var fp = re.exec(w);
- stem = fp[1];
- suffix = fp[2];
- re = new RegExp(mgr0);
- if (re.test(stem))
- w = stem + step2list[suffix];
- }
-
- // Step 3
- re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;
- if (re.test(w)) {
- var fp = re.exec(w);
- stem = fp[1];
- suffix = fp[2];
- re = new RegExp(mgr0);
- if (re.test(stem))
- w = stem + step3list[suffix];
- }
-
- // Step 4
- re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;
- re2 = /^(.+?)(s|t)(ion)$/;
- if (re.test(w)) {
- var fp = re.exec(w);
- stem = fp[1];
- re = new RegExp(mgr1);
- if (re.test(stem))
- w = stem;
- }
- else if (re2.test(w)) {
- var fp = re2.exec(w);
- stem = fp[1] + fp[2];
- re2 = new RegExp(mgr1);
- if (re2.test(stem))
- w = stem;
- }
-
- // Step 5
- re = /^(.+?)e$/;
- if (re.test(w)) {
- var fp = re.exec(w);
- stem = fp[1];
- re = new RegExp(mgr1);
- re2 = new RegExp(meq1);
- re3 = new RegExp("^" + C + v + "[^aeiouwxy]$");
- if (re.test(stem) || (re2.test(stem) && !(re3.test(stem))))
- w = stem;
- }
- re = /ll$/;
- re2 = new RegExp(mgr1);
- if (re.test(w) && re2.test(w)) {
- re = /.$/;
- w = w.replace(re,"");
- }
-
- // and turn initial Y back to y
- if (firstch == "y")
- w = firstch.toLowerCase() + w.substr(1);
- return w;
- }
-}
-
-
-
-
-var splitChars = (function() {
- var result = {};
- var singles = [96, 180, 187, 191, 215, 247, 749, 885, 903, 907, 909, 930, 1014, 1648,
- 1748, 1809, 2416, 2473, 2481, 2526, 2601, 2609, 2612, 2615, 2653, 2702,
- 2706, 2729, 2737, 2740, 2857, 2865, 2868, 2910, 2928, 2948, 2961, 2971,
- 2973, 3085, 3089, 3113, 3124, 3213, 3217, 3241, 3252, 3295, 3341, 3345,
- 3369, 3506, 3516, 3633, 3715, 3721, 3736, 3744, 3748, 3750, 3756, 3761,
- 3781, 3912, 4239, 4347, 4681, 4695, 4697, 4745, 4785, 4799, 4801, 4823,
- 4881, 5760, 5901, 5997, 6313, 7405, 8024, 8026, 8028, 8030, 8117, 8125,
- 8133, 8181, 8468, 8485, 8487, 8489, 8494, 8527, 11311, 11359, 11687, 11695,
- 11703, 11711, 11719, 11727, 11735, 12448, 12539, 43010, 43014, 43019, 43587,
- 43696, 43713, 64286, 64297, 64311, 64317, 64319, 64322, 64325, 65141];
- var i, j, start, end;
- for (i = 0; i < singles.length; i++) {
- result[singles[i]] = true;
- }
- var ranges = [[0, 47], [58, 64], [91, 94], [123, 169], [171, 177], [182, 184], [706, 709],
- [722, 735], [741, 747], [751, 879], [888, 889], [894, 901], [1154, 1161],
- [1318, 1328], [1367, 1368], [1370, 1376], [1416, 1487], [1515, 1519], [1523, 1568],
- [1611, 1631], [1642, 1645], [1750, 1764], [1767, 1773], [1789, 1790], [1792, 1807],
- [1840, 1868], [1958, 1968], [1970, 1983], [2027, 2035], [2038, 2041], [2043, 2047],
- [2070, 2073], [2075, 2083], [2085, 2087], [2089, 2307], [2362, 2364], [2366, 2383],
- [2385, 2391], [2402, 2405], [2419, 2424], [2432, 2436], [2445, 2446], [2449, 2450],
- [2483, 2485], [2490, 2492], [2494, 2509], [2511, 2523], [2530, 2533], [2546, 2547],
- [2554, 2564], [2571, 2574], [2577, 2578], [2618, 2648], [2655, 2661], [2672, 2673],
- [2677, 2692], [2746, 2748], [2750, 2767], [2769, 2783], [2786, 2789], [2800, 2820],
- [2829, 2830], [2833, 2834], [2874, 2876], [2878, 2907], [2914, 2917], [2930, 2946],
- [2955, 2957], [2966, 2968], [2976, 2978], [2981, 2983], [2987, 2989], [3002, 3023],
- [3025, 3045], [3059, 3076], [3130, 3132], [3134, 3159], [3162, 3167], [3170, 3173],
- [3184, 3191], [3199, 3204], [3258, 3260], [3262, 3293], [3298, 3301], [3312, 3332],
- [3386, 3388], [3390, 3423], [3426, 3429], [3446, 3449], [3456, 3460], [3479, 3481],
- [3518, 3519], [3527, 3584], [3636, 3647], [3655, 3663], [3674, 3712], [3717, 3718],
- [3723, 3724], [3726, 3731], [3752, 3753], [3764, 3772], [3774, 3775], [3783, 3791],
- [3802, 3803], [3806, 3839], [3841, 3871], [3892, 3903], [3949, 3975], [3980, 4095],
- [4139, 4158], [4170, 4175], [4182, 4185], [4190, 4192], [4194, 4196], [4199, 4205],
- [4209, 4212], [4226, 4237], [4250, 4255], [4294, 4303], [4349, 4351], [4686, 4687],
- [4702, 4703], [4750, 4751], [4790, 4791], [4806, 4807], [4886, 4887], [4955, 4968],
- [4989, 4991], [5008, 5023], [5109, 5120], [5741, 5742], [5787, 5791], [5867, 5869],
- [5873, 5887], [5906, 5919], [5938, 5951], [5970, 5983], [6001, 6015], [6068, 6102],
- [6104, 6107], [6109, 6111], [6122, 6127], [6138, 6159], [6170, 6175], [6264, 6271],
- [6315, 6319], [6390, 6399], [6429, 6469], [6510, 6511], [6517, 6527], [6572, 6592],
- [6600, 6607], [6619, 6655], [6679, 6687], [6741, 6783], [6794, 6799], [6810, 6822],
- [6824, 6916], [6964, 6980], [6988, 6991], [7002, 7042], [7073, 7085], [7098, 7167],
- [7204, 7231], [7242, 7244], [7294, 7400], [7410, 7423], [7616, 7679], [7958, 7959],
- [7966, 7967], [8006, 8007], [8014, 8015], [8062, 8063], [8127, 8129], [8141, 8143],
- [8148, 8149], [8156, 8159], [8173, 8177], [8189, 8303], [8306, 8307], [8314, 8318],
- [8330, 8335], [8341, 8449], [8451, 8454], [8456, 8457], [8470, 8472], [8478, 8483],
- [8506, 8507], [8512, 8516], [8522, 8525], [8586, 9311], [9372, 9449], [9472, 10101],
- [10132, 11263], [11493, 11498], [11503, 11516], [11518, 11519], [11558, 11567],
- [11622, 11630], [11632, 11647], [11671, 11679], [11743, 11822], [11824, 12292],
- [12296, 12320], [12330, 12336], [12342, 12343], [12349, 12352], [12439, 12444],
- [12544, 12548], [12590, 12592], [12687, 12689], [12694, 12703], [12728, 12783],
- [12800, 12831], [12842, 12880], [12896, 12927], [12938, 12976], [12992, 13311],
- [19894, 19967], [40908, 40959], [42125, 42191], [42238, 42239], [42509, 42511],
- [42540, 42559], [42592, 42593], [42607, 42622], [42648, 42655], [42736, 42774],
- [42784, 42785], [42889, 42890], [42893, 43002], [43043, 43055], [43062, 43071],
- [43124, 43137], [43188, 43215], [43226, 43249], [43256, 43258], [43260, 43263],
- [43302, 43311], [43335, 43359], [43389, 43395], [43443, 43470], [43482, 43519],
- [43561, 43583], [43596, 43599], [43610, 43615], [43639, 43641], [43643, 43647],
- [43698, 43700], [43703, 43704], [43710, 43711], [43715, 43738], [43742, 43967],
- [44003, 44015], [44026, 44031], [55204, 55215], [55239, 55242], [55292, 55295],
- [57344, 63743], [64046, 64047], [64110, 64111], [64218, 64255], [64263, 64274],
- [64280, 64284], [64434, 64466], [64830, 64847], [64912, 64913], [64968, 65007],
- [65020, 65135], [65277, 65295], [65306, 65312], [65339, 65344], [65371, 65381],
- [65471, 65473], [65480, 65481], [65488, 65489], [65496, 65497]];
- for (i = 0; i < ranges.length; i++) {
- start = ranges[i][0];
- end = ranges[i][1];
- for (j = start; j <= end; j++) {
- result[j] = true;
- }
- }
- return result;
-})();
-
-function splitQuery(query) {
- var result = [];
- var start = -1;
- for (var i = 0; i < query.length; i++) {
- if (splitChars[query.charCodeAt(i)]) {
- if (start !== -1) {
- result.push(query.slice(start, i));
- start = -1;
- }
- } else if (start === -1) {
- start = i;
- }
- }
- if (start !== -1) {
- result.push(query.slice(start));
- }
- return result;
-}
-
-
+/*
+ * language_data.js
+ * ~~~~~~~~~~~~~~~~
+ *
+ * This script contains the language-specific data used by searchtools.js,
+ * namely the list of stopwords, stemmer, scorer and splitter.
+ *
+ * :copyright: Copyright 2007-2021 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+var stopwords = ["a","and","are","as","at","be","but","by","for","if","in","into","is","it","near","no","not","of","on","or","such","that","the","their","then","there","these","they","this","to","was","will","with"];
+
+
+/* Non-minified version is copied as a separate JS file, is available */
+
+/**
+ * Porter Stemmer
+ */
+var Stemmer = function() {
+
+ var step2list = {
+ ational: 'ate',
+ tional: 'tion',
+ enci: 'ence',
+ anci: 'ance',
+ izer: 'ize',
+ bli: 'ble',
+ alli: 'al',
+ entli: 'ent',
+ eli: 'e',
+ ousli: 'ous',
+ ization: 'ize',
+ ation: 'ate',
+ ator: 'ate',
+ alism: 'al',
+ iveness: 'ive',
+ fulness: 'ful',
+ ousness: 'ous',
+ aliti: 'al',
+ iviti: 'ive',
+ biliti: 'ble',
+ logi: 'log'
+ };
+
+ var step3list = {
+ icate: 'ic',
+ ative: '',
+ alize: 'al',
+ iciti: 'ic',
+ ical: 'ic',
+ ful: '',
+ ness: ''
+ };
+
+ var c = "[^aeiou]"; // consonant
+ var v = "[aeiouy]"; // vowel
+ var C = c + "[^aeiouy]*"; // consonant sequence
+ var V = v + "[aeiou]*"; // vowel sequence
+
+ var mgr0 = "^(" + C + ")?" + V + C; // [C]VC... is m>0
+ var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$"; // [C]VC[V] is m=1
+ var mgr1 = "^(" + C + ")?" + V + C + V + C; // [C]VCVC... is m>1
+ var s_v = "^(" + C + ")?" + v; // vowel in stem
+
+ this.stemWord = function (w) {
+ var stem;
+ var suffix;
+ var firstch;
+ var origword = w;
+
+ if (w.length < 3)
+ return w;
+
+ var re;
+ var re2;
+ var re3;
+ var re4;
+
+ firstch = w.substr(0,1);
+ if (firstch == "y")
+ w = firstch.toUpperCase() + w.substr(1);
+
+ // Step 1a
+ re = /^(.+?)(ss|i)es$/;
+ re2 = /^(.+?)([^s])s$/;
+
+ if (re.test(w))
+ w = w.replace(re,"$1$2");
+ else if (re2.test(w))
+ w = w.replace(re2,"$1$2");
+
+ // Step 1b
+ re = /^(.+?)eed$/;
+ re2 = /^(.+?)(ed|ing)$/;
+ if (re.test(w)) {
+ var fp = re.exec(w);
+ re = new RegExp(mgr0);
+ if (re.test(fp[1])) {
+ re = /.$/;
+ w = w.replace(re,"");
+ }
+ }
+ else if (re2.test(w)) {
+ var fp = re2.exec(w);
+ stem = fp[1];
+ re2 = new RegExp(s_v);
+ if (re2.test(stem)) {
+ w = stem;
+ re2 = /(at|bl|iz)$/;
+ re3 = new RegExp("([^aeiouylsz])\\1$");
+ re4 = new RegExp("^" + C + v + "[^aeiouwxy]$");
+ if (re2.test(w))
+ w = w + "e";
+ else if (re3.test(w)) {
+ re = /.$/;
+ w = w.replace(re,"");
+ }
+ else if (re4.test(w))
+ w = w + "e";
+ }
+ }
+
+ // Step 1c
+ re = /^(.+?)y$/;
+ if (re.test(w)) {
+ var fp = re.exec(w);
+ stem = fp[1];
+ re = new RegExp(s_v);
+ if (re.test(stem))
+ w = stem + "i";
+ }
+
+ // Step 2
+ re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;
+ if (re.test(w)) {
+ var fp = re.exec(w);
+ stem = fp[1];
+ suffix = fp[2];
+ re = new RegExp(mgr0);
+ if (re.test(stem))
+ w = stem + step2list[suffix];
+ }
+
+ // Step 3
+ re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;
+ if (re.test(w)) {
+ var fp = re.exec(w);
+ stem = fp[1];
+ suffix = fp[2];
+ re = new RegExp(mgr0);
+ if (re.test(stem))
+ w = stem + step3list[suffix];
+ }
+
+ // Step 4
+ re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;
+ re2 = /^(.+?)(s|t)(ion)$/;
+ if (re.test(w)) {
+ var fp = re.exec(w);
+ stem = fp[1];
+ re = new RegExp(mgr1);
+ if (re.test(stem))
+ w = stem;
+ }
+ else if (re2.test(w)) {
+ var fp = re2.exec(w);
+ stem = fp[1] + fp[2];
+ re2 = new RegExp(mgr1);
+ if (re2.test(stem))
+ w = stem;
+ }
+
+ // Step 5
+ re = /^(.+?)e$/;
+ if (re.test(w)) {
+ var fp = re.exec(w);
+ stem = fp[1];
+ re = new RegExp(mgr1);
+ re2 = new RegExp(meq1);
+ re3 = new RegExp("^" + C + v + "[^aeiouwxy]$");
+ if (re.test(stem) || (re2.test(stem) && !(re3.test(stem))))
+ w = stem;
+ }
+ re = /ll$/;
+ re2 = new RegExp(mgr1);
+ if (re.test(w) && re2.test(w)) {
+ re = /.$/;
+ w = w.replace(re,"");
+ }
+
+ // and turn initial Y back to y
+ if (firstch == "y")
+ w = firstch.toLowerCase() + w.substr(1);
+ return w;
+ }
+}
+
+
+
+
+var splitChars = (function() {
+ var result = {};
+ var singles = [96, 180, 187, 191, 215, 247, 749, 885, 903, 907, 909, 930, 1014, 1648,
+ 1748, 1809, 2416, 2473, 2481, 2526, 2601, 2609, 2612, 2615, 2653, 2702,
+ 2706, 2729, 2737, 2740, 2857, 2865, 2868, 2910, 2928, 2948, 2961, 2971,
+ 2973, 3085, 3089, 3113, 3124, 3213, 3217, 3241, 3252, 3295, 3341, 3345,
+ 3369, 3506, 3516, 3633, 3715, 3721, 3736, 3744, 3748, 3750, 3756, 3761,
+ 3781, 3912, 4239, 4347, 4681, 4695, 4697, 4745, 4785, 4799, 4801, 4823,
+ 4881, 5760, 5901, 5997, 6313, 7405, 8024, 8026, 8028, 8030, 8117, 8125,
+ 8133, 8181, 8468, 8485, 8487, 8489, 8494, 8527, 11311, 11359, 11687, 11695,
+ 11703, 11711, 11719, 11727, 11735, 12448, 12539, 43010, 43014, 43019, 43587,
+ 43696, 43713, 64286, 64297, 64311, 64317, 64319, 64322, 64325, 65141];
+ var i, j, start, end;
+ for (i = 0; i < singles.length; i++) {
+ result[singles[i]] = true;
+ }
+ var ranges = [[0, 47], [58, 64], [91, 94], [123, 169], [171, 177], [182, 184], [706, 709],
+ [722, 735], [741, 747], [751, 879], [888, 889], [894, 901], [1154, 1161],
+ [1318, 1328], [1367, 1368], [1370, 1376], [1416, 1487], [1515, 1519], [1523, 1568],
+ [1611, 1631], [1642, 1645], [1750, 1764], [1767, 1773], [1789, 1790], [1792, 1807],
+ [1840, 1868], [1958, 1968], [1970, 1983], [2027, 2035], [2038, 2041], [2043, 2047],
+ [2070, 2073], [2075, 2083], [2085, 2087], [2089, 2307], [2362, 2364], [2366, 2383],
+ [2385, 2391], [2402, 2405], [2419, 2424], [2432, 2436], [2445, 2446], [2449, 2450],
+ [2483, 2485], [2490, 2492], [2494, 2509], [2511, 2523], [2530, 2533], [2546, 2547],
+ [2554, 2564], [2571, 2574], [2577, 2578], [2618, 2648], [2655, 2661], [2672, 2673],
+ [2677, 2692], [2746, 2748], [2750, 2767], [2769, 2783], [2786, 2789], [2800, 2820],
+ [2829, 2830], [2833, 2834], [2874, 2876], [2878, 2907], [2914, 2917], [2930, 2946],
+ [2955, 2957], [2966, 2968], [2976, 2978], [2981, 2983], [2987, 2989], [3002, 3023],
+ [3025, 3045], [3059, 3076], [3130, 3132], [3134, 3159], [3162, 3167], [3170, 3173],
+ [3184, 3191], [3199, 3204], [3258, 3260], [3262, 3293], [3298, 3301], [3312, 3332],
+ [3386, 3388], [3390, 3423], [3426, 3429], [3446, 3449], [3456, 3460], [3479, 3481],
+ [3518, 3519], [3527, 3584], [3636, 3647], [3655, 3663], [3674, 3712], [3717, 3718],
+ [3723, 3724], [3726, 3731], [3752, 3753], [3764, 3772], [3774, 3775], [3783, 3791],
+ [3802, 3803], [3806, 3839], [3841, 3871], [3892, 3903], [3949, 3975], [3980, 4095],
+ [4139, 4158], [4170, 4175], [4182, 4185], [4190, 4192], [4194, 4196], [4199, 4205],
+ [4209, 4212], [4226, 4237], [4250, 4255], [4294, 4303], [4349, 4351], [4686, 4687],
+ [4702, 4703], [4750, 4751], [4790, 4791], [4806, 4807], [4886, 4887], [4955, 4968],
+ [4989, 4991], [5008, 5023], [5109, 5120], [5741, 5742], [5787, 5791], [5867, 5869],
+ [5873, 5887], [5906, 5919], [5938, 5951], [5970, 5983], [6001, 6015], [6068, 6102],
+ [6104, 6107], [6109, 6111], [6122, 6127], [6138, 6159], [6170, 6175], [6264, 6271],
+ [6315, 6319], [6390, 6399], [6429, 6469], [6510, 6511], [6517, 6527], [6572, 6592],
+ [6600, 6607], [6619, 6655], [6679, 6687], [6741, 6783], [6794, 6799], [6810, 6822],
+ [6824, 6916], [6964, 6980], [6988, 6991], [7002, 7042], [7073, 7085], [7098, 7167],
+ [7204, 7231], [7242, 7244], [7294, 7400], [7410, 7423], [7616, 7679], [7958, 7959],
+ [7966, 7967], [8006, 8007], [8014, 8015], [8062, 8063], [8127, 8129], [8141, 8143],
+ [8148, 8149], [8156, 8159], [8173, 8177], [8189, 8303], [8306, 8307], [8314, 8318],
+ [8330, 8335], [8341, 8449], [8451, 8454], [8456, 8457], [8470, 8472], [8478, 8483],
+ [8506, 8507], [8512, 8516], [8522, 8525], [8586, 9311], [9372, 9449], [9472, 10101],
+ [10132, 11263], [11493, 11498], [11503, 11516], [11518, 11519], [11558, 11567],
+ [11622, 11630], [11632, 11647], [11671, 11679], [11743, 11822], [11824, 12292],
+ [12296, 12320], [12330, 12336], [12342, 12343], [12349, 12352], [12439, 12444],
+ [12544, 12548], [12590, 12592], [12687, 12689], [12694, 12703], [12728, 12783],
+ [12800, 12831], [12842, 12880], [12896, 12927], [12938, 12976], [12992, 13311],
+ [19894, 19967], [40908, 40959], [42125, 42191], [42238, 42239], [42509, 42511],
+ [42540, 42559], [42592, 42593], [42607, 42622], [42648, 42655], [42736, 42774],
+ [42784, 42785], [42889, 42890], [42893, 43002], [43043, 43055], [43062, 43071],
+ [43124, 43137], [43188, 43215], [43226, 43249], [43256, 43258], [43260, 43263],
+ [43302, 43311], [43335, 43359], [43389, 43395], [43443, 43470], [43482, 43519],
+ [43561, 43583], [43596, 43599], [43610, 43615], [43639, 43641], [43643, 43647],
+ [43698, 43700], [43703, 43704], [43710, 43711], [43715, 43738], [43742, 43967],
+ [44003, 44015], [44026, 44031], [55204, 55215], [55239, 55242], [55292, 55295],
+ [57344, 63743], [64046, 64047], [64110, 64111], [64218, 64255], [64263, 64274],
+ [64280, 64284], [64434, 64466], [64830, 64847], [64912, 64913], [64968, 65007],
+ [65020, 65135], [65277, 65295], [65306, 65312], [65339, 65344], [65371, 65381],
+ [65471, 65473], [65480, 65481], [65488, 65489], [65496, 65497]];
+ for (i = 0; i < ranges.length; i++) {
+ start = ranges[i][0];
+ end = ranges[i][1];
+ for (j = start; j <= end; j++) {
+ result[j] = true;
+ }
+ }
+ return result;
+})();
+
+function splitQuery(query) {
+ var result = [];
+ var start = -1;
+ for (var i = 0; i < query.length; i++) {
+ if (splitChars[query.charCodeAt(i)]) {
+ if (start !== -1) {
+ result.push(query.slice(start, i));
+ start = -1;
+ }
+ } else if (start === -1) {
+ start = i;
+ }
+ }
+ if (start !== -1) {
+ result.push(query.slice(start));
+ }
+ return result;
+}
+
+
diff --git a/content/html/_static/pygments.css b/content/html/_static/pygments.css
index 631bc92..ff153c5 100644
--- a/content/html/_static/pygments.css
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+.highlight .sh { color: #BA2121 } /* Literal.String.Heredoc */
+.highlight .si { color: #BB6688; font-weight: bold } /* Literal.String.Interpol */
+.highlight .sx { color: #008000 } /* Literal.String.Other */
+.highlight .sr { color: #BB6688 } /* Literal.String.Regex */
+.highlight .s1 { color: #BA2121 } /* Literal.String.Single */
+.highlight .ss { color: #19177C } /* Literal.String.Symbol */
+.highlight .bp { color: #008000 } /* Name.Builtin.Pseudo */
+.highlight .fm { color: #0000FF } /* Name.Function.Magic */
+.highlight .vc { color: #19177C } /* Name.Variable.Class */
+.highlight .vg { color: #19177C } /* Name.Variable.Global */
+.highlight .vi { color: #19177C } /* Name.Variable.Instance */
+.highlight .vm { color: #19177C } /* Name.Variable.Magic */
.highlight .il { color: #666666 } /* Literal.Number.Integer.Long */
\ No newline at end of file
diff --git a/content/html/_static/resources/fmil/fmi-library-2.0.3-fixes.patch b/content/html/_static/resources/fmil/fmi-library-2.0.3-fixes.patch
new file mode 100644
index 0000000..963a449
--- /dev/null
+++ b/content/html/_static/resources/fmil/fmi-library-2.0.3-fixes.patch
@@ -0,0 +1,66 @@
+diff --git a/src/Import/src/FMI1/fmi1_import_capi.c b/src/Import/src/FMI1/fmi1_import_capi.c
+index 842c998..eeff2b5 100644
+--- a/src/Import/src/FMI1/fmi1_import_capi.c
++++ b/src/Import/src/FMI1/fmi1_import_capi.c
+@@ -67,18 +67,8 @@ jm_status_enu_t fmi1_import_create_dllfmu(fmi1_import_t* fmu, fmi1_callback_func
+ return jm_status_error;
+ }
+
+- if(jm_portability_set_current_working_directory(dllDirPath) != jm_status_success) {
+- jm_log_fatal(fmu->callbacks, module, "Could not change to the DLL directory %s", dllDirPath);
+- if(ENOENT == errno)
+- jm_log_fatal(fmu->callbacks, module, "The FMU contains no binary for this platform.");
+- else
+- jm_log_fatal(fmu->callbacks, module, "System error: %s", strerror(errno));
+- }
+- else {
+ /* Allocate memory for the C-API struct */
+ fmu -> capi = fmi1_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier, callBackFunctions, standard);
+- }
+-
+
+ /* Load the DLL handle */
+ if (fmu -> capi) {
+diff --git a/src/Import/src/FMI2/fmi2_import_capi.c b/src/Import/src/FMI2/fmi2_import_capi.c
+index e794775..ffca14d 100644
+--- a/src/Import/src/FMI2/fmi2_import_capi.c
++++ b/src/Import/src/FMI2/fmi2_import_capi.c
+@@ -88,18 +88,8 @@ jm_status_enu_t fmi2_import_create_dllfmu(fmi2_import_t* fmu, fmi2_fmu_kind_enu_
+ callBackFunctions = &defaultCallbacks;
+ }
+
+- if(jm_portability_set_current_working_directory(dllDirPath) != jm_status_success) {
+- jm_log_fatal(fmu->callbacks, module, "Could not change to the DLL directory %s", dllDirPath);
+- if(ENOENT == errno)
+- jm_log_fatal(fmu->callbacks, module, "The FMU contains no binary for this platform.");
+- else
+- jm_log_fatal(fmu->callbacks, module, "System error: %s", strerror(errno));
+- }
+- else {
+ /* Allocate memory for the C-API struct */
+ fmu -> capi = fmi2_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier, callBackFunctions, fmuKind);
+- }
+-
+
+ /* Load the DLL handle */
+ if (fmu -> capi) {
+diff --git a/src/Util/include/JM/jm_portability.h b/src/Util/include/JM/jm_portability.h
+index 82e472a..605dff9 100644
+--- a/src/Util/include/JM/jm_portability.h
++++ b/src/Util/include/JM/jm_portability.h
+@@ -65,6 +65,7 @@ jm_status_enu_t jm_portability_get_current_working_directory(char* buffer, size_
+ jm_status_enu_t jm_portability_set_current_working_directory(const char* cwd);
+
+ /** \brief Get system-wide temporary directory */
++FMILIB_EXPORT
+ const char* jm_get_system_temp_dir();
+
+ /**
+@@ -118,6 +119,7 @@ jm_status_enu_t jm_mkdir(jm_callbacks* cb, const char* dir);
+ /**
+ \brief Remove directory and all it contents.
+ */
++FMILIB_EXPORT
+ jm_status_enu_t jm_rmdir(jm_callbacks* cb, const char* dir);
+
+ /**
diff --git a/content/html/_static/resources/fmil/fmil203.patch b/content/html/_static/resources/fmil/fmil203.patch
deleted file mode 100644
index 21fd3a2..0000000
--- a/content/html/_static/resources/fmil/fmil203.patch
+++ /dev/null
@@ -1,68 +0,0 @@
-diff --git a/src/Import/src/FMI1/fmi1_import_capi.c b/src/Import/src/FMI1/fmi1_import_capi.c
-index 842c998..807cdae 100644
---- a/src/Import/src/FMI1/fmi1_import_capi.c
-+++ b/src/Import/src/FMI1/fmi1_import_capi.c
-@@ -67,18 +67,8 @@ jm_status_enu_t fmi1_import_create_dllfmu(fmi1_import_t* fmu, fmi1_callback_func
-return jm_status_error;
-}
-- if(jm_portability_set_current_working_directory(dllDirPath) != jm_status_success) {
-- jm_log_fatal(fmu->callbacks, module, "Could not change to the DLL directory %s", dllDirPath);
-- if(ENOENT == errno)
-- jm_log_fatal(fmu->callbacks, module, "The FMU contains no binary for this platform.");
-- else
-- jm_log_fatal(fmu->callbacks, module, "System error: %s", strerror(errno));
-- }
-- else {
-- /* Allocate memory for the C-API struct */
-- fmu -> capi = fmi1_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier,
-callBackFunctions, standard);
-- }
--
-+ /* Allocate memory for the C-API struct */
-+ fmu -> capi = fmi1_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier, callBackFunctions,
-standard);
-/* Load the DLL handle */
-if (fmu -> capi) {
-diff --git a/src/Import/src/FMI2/fmi2_import_capi.c b/src/Import/src/FMI2/fmi2_import_capi.c
-index e794775..a2a68ba 100644
---- a/src/Import/src/FMI2/fmi2_import_capi.c
-+++ b/src/Import/src/FMI2/fmi2_import_capi.c
-@@ -88,18 +88,8 @@ jm_status_enu_t fmi2_import_create_dllfmu(fmi2_import_t* fmu, fmi2_fmu_kind_enu_
-callBackFunctions = &defaultCallbacks;
-}
-- if(jm_portability_set_current_working_directory(dllDirPath) != jm_status_success) {
-- jm_log_fatal(fmu->callbacks, module, "Could not change to the DLL directory %s", dllDirPath);
-- if(ENOENT == errno)
-- jm_log_fatal(fmu->callbacks, module, "The FMU contains no binary for this platform.");
-- else
-- jm_log_fatal(fmu->callbacks, module, "System error: %s", strerror(errno));
-- }
-- else {
-- /* Allocate memory for the C-API struct */
-- fmu -> capi = fmi2_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier,
-callBackFunctions, fmuKind);
-- }
--
-+ /* Allocate memory for the C-API struct */
-+ fmu -> capi = fmi2_capi_create_dllfmu(fmu->callbacks, dllFileName, modelIdentifier, callBackFunctions,
-fmuKind);
-/* Load the DLL handle */
-if (fmu -> capi) {
-diff --git a/src/Util/include/JM/jm_portability.h b/src/Util/include/JM/jm_portability.h
-index 82e472a..3e50603 100644
---- a/src/Util/include/JM/jm_portability.h
-+++ b/src/Util/include/JM/jm_portability.h
-@@ -65,6 +65,7 @@ jm_status_enu_t jm_portability_get_current_working_directory(char* buffer, size_
-jm_status_enu_t jm_portability_set_current_working_directory(const char* cwd);
-/** \brief Get system-wide temporary directory */
-+FMILIB_EXPORT
-
-const char* jm_get_system_temp_dir();
-/**
-@@ -118,6 +119,7 @@ jm_status_enu_t jm_mkdir(jm_callbacks* cb, const char* dir);
-/**
-\brief Remove directory and all it contents.
-*/
-+FMILIB_EXPORT
-jm_status_enu_t jm_rmdir(jm_callbacks* cb, const char* dir);
-/**
\ No newline at end of file
diff --git a/content/html/_static/searchtools.js b/content/html/_static/searchtools.js
index e09f926..1a90152 100644
--- a/content/html/_static/searchtools.js
+++ b/content/html/_static/searchtools.js
@@ -509,7 +509,7 @@
var excerpt = ((start > 0) ? '...' : '') +
$.trim(text.substr(start, 240)) +
((start + 240 - text.length) ? '...' : '');
- var rv = $('<p class="context"></p>').text(excerpt);
+ var rv = $('<div class="context"></div>').text(excerpt);
$.each(hlwords, function() {
rv = rv.highlightText(this, 'highlighted');
});
diff --git a/content/html/_static/tabs.js b/content/html/_static/tabs.js
index 508470c..5fe8525 100644
--- a/content/html/_static/tabs.js
+++ b/content/html/_static/tabs.js
@@ -18,7 +18,7 @@
// Restore group tab selection from session
const lastSelected = session.getItem('sphinx-tabs-last-selected');
- if (lastSelected != null) selectNamedTabs(lastSelected);
+ if (lastSelected != null) selectGroupedTabs(lastSelected);
});
/**
@@ -58,16 +58,16 @@
*/
function changeTabs(e) {
// Use this instead of the element that was clicked, in case it's a child
- const notSelected = this.getAttribute("aria-selected") === "false";
+ const selected = this.getAttribute("aria-selected") === "true";
const positionBefore = this.parentNode.getBoundingClientRect().top;
- const notClosable = !this.parentNode.classList.contains("closeable");
+ const closable = this.parentNode.classList.contains("closeable");
deselectTabList(this);
- if (notSelected || notClosable) {
+ if (!selected || !closable) {
selectTab(this);
const name = this.getAttribute("name");
- selectNamedTabs(name, this.id);
+ selectGroupedTabs(name, this.id);
if (this.classList.contains("group-tab")) {
// Persist during session
@@ -81,43 +81,21 @@
window.scrollTo(0, window.scrollY + positionDelta);
}
-/**
- * Select tab and show associated panel.
- * @param {Node} tab tab to select
- */
-function selectTab(tab) {
- tab.setAttribute("aria-selected", true);
+function selectTab(target) {
+ target.setAttribute("aria-selected", true);
// Show the associated panel
document
- .getElementById(tab.getAttribute("aria-controls"))
+ .getElementById(target.getAttribute("aria-controls"))
.removeAttribute("hidden");
}
/**
- * Hide the panels associated with all tabs within the
- * tablist containing this tab.
- * @param {Node} tab a tab within the tablist to deselect
- */
-function deselectTabList(tab) {
- const parent = tab.parentNode;
- const grandparent = parent.parentNode;
-
- Array.from(parent.children)
- .forEach(t => t.setAttribute("aria-selected", false));
-
- Array.from(grandparent.children)
- .slice(1) // Skip tablist
- .forEach(panel => panel.setAttribute("hidden", true));
-}
-
-/**
- * Select grouped tabs with the same name, but no the tab
- * with the given id.
+ * Select all other grouped tabs via tab name.
* @param {Node} name name of grouped tab to be selected
* @param {Node} clickedId id of clicked tab
*/
-function selectNamedTabs(name, clickedId=null) {
+function selectGroupedTabs(name, clickedId=null) {
const groupedTabs = document.querySelectorAll(`.sphinx-tabs-tab[name="${name}"]`);
const tabLists = Array.from(groupedTabs).map(tab => tab.parentNode);
@@ -134,8 +112,19 @@
})
}
-exports.keyTabs = keyTabs;
-exports.changeTabs = changeTabs;
-exports.selectTab = selectTab;
-exports.deselectTabList = deselectTabList;
-exports.selectNamedTabs = selectNamedTabs;
+/**
+ * Hide the panels associated with all tabs within the
+ * tablist containing this tab.
+ * @param {Node} tab a tab within the tablist to deselect
+ */
+function deselectTabList(tab) {
+ const parent = tab.parentNode;
+ const grandparent = parent.parentNode;
+
+ Array.from(parent.children)
+ .forEach(t => t.setAttribute("aria-selected", false));
+
+ Array.from(grandparent.children)
+ .slice(1) // Skip tablist
+ .forEach(p => p.setAttribute("hidden", true));
+}
diff --git a/content/html/_static/underscore-1.13.1.js b/content/html/_static/underscore-1.12.0.js
similarity index 94%
rename from content/html/_static/underscore-1.13.1.js
rename to content/html/_static/underscore-1.12.0.js
index ffd77af..3af6352 100644
--- a/content/html/_static/underscore-1.13.1.js
+++ b/content/html/_static/underscore-1.12.0.js
@@ -1,19 +1,19 @@
(function (global, factory) {
typeof exports === 'object' && typeof module !== 'undefined' ? module.exports = factory() :
typeof define === 'function' && define.amd ? define('underscore', factory) :
- (global = typeof globalThis !== 'undefined' ? globalThis : global || self, (function () {
+ (global = global || self, (function () {
var current = global._;
var exports = global._ = factory();
exports.noConflict = function () { global._ = current; return exports; };
}()));
}(this, (function () {
- // Underscore.js 1.13.1
+ // Underscore.js 1.12.0
// https://underscorejs.org
- // (c) 2009-2021 Jeremy Ashkenas, Julian Gonggrijp, and DocumentCloud and Investigative Reporters & Editors
+ // (c) 2009-2020 Jeremy Ashkenas, DocumentCloud and Investigative Reporters & Editors
// Underscore may be freely distributed under the MIT license.
// Current version.
- var VERSION = '1.13.1';
+ var VERSION = '1.12.0';
// Establish the root object, `window` (`self`) in the browser, `global`
// on the server, or `this` in some virtual machines. We use `self`
@@ -170,7 +170,7 @@
var isArray = nativeIsArray || tagTester('Array');
// Internal function to check whether `key` is an own property name of `obj`.
- function has$1(obj, key) {
+ function has(obj, key) {
return obj != null && hasOwnProperty.call(obj, key);
}
@@ -181,7 +181,7 @@
(function() {
if (!isArguments(arguments)) {
isArguments = function(obj) {
- return has$1(obj, 'callee');
+ return has(obj, 'callee');
};
}
}());
@@ -268,7 +268,7 @@
// Constructor is a special case.
var prop = 'constructor';
- if (has$1(obj, prop) && !keys.contains(prop)) keys.push(prop);
+ if (has(obj, prop) && !keys.contains(prop)) keys.push(prop);
while (nonEnumIdx--) {
prop = nonEnumerableProps[nonEnumIdx];
@@ -284,7 +284,7 @@
if (!isObject(obj)) return [];
if (nativeKeys) return nativeKeys(obj);
var keys = [];
- for (var key in obj) if (has$1(obj, key)) keys.push(key);
+ for (var key in obj) if (has(obj, key)) keys.push(key);
// Ahem, IE < 9.
if (hasEnumBug) collectNonEnumProps(obj, keys);
return keys;
@@ -318,24 +318,24 @@
// If Underscore is called as a function, it returns a wrapped object that can
// be used OO-style. This wrapper holds altered versions of all functions added
// through `_.mixin`. Wrapped objects may be chained.
- function _$1(obj) {
- if (obj instanceof _$1) return obj;
- if (!(this instanceof _$1)) return new _$1(obj);
+ function _(obj) {
+ if (obj instanceof _) return obj;
+ if (!(this instanceof _)) return new _(obj);
this._wrapped = obj;
}
- _$1.VERSION = VERSION;
+ _.VERSION = VERSION;
// Extracts the result from a wrapped and chained object.
- _$1.prototype.value = function() {
+ _.prototype.value = function() {
return this._wrapped;
};
// Provide unwrapping proxies for some methods used in engine operations
// such as arithmetic and JSON stringification.
- _$1.prototype.valueOf = _$1.prototype.toJSON = _$1.prototype.value;
+ _.prototype.valueOf = _.prototype.toJSON = _.prototype.value;
- _$1.prototype.toString = function() {
+ _.prototype.toString = function() {
return String(this._wrapped);
};
@@ -370,8 +370,8 @@
// Internal recursive comparison function for `_.isEqual`.
function deepEq(a, b, aStack, bStack) {
// Unwrap any wrapped objects.
- if (a instanceof _$1) a = a._wrapped;
- if (b instanceof _$1) b = b._wrapped;
+ if (a instanceof _) a = a._wrapped;
+ if (b instanceof _) b = b._wrapped;
// Compare `[[Class]]` names.
var className = toString.call(a);
if (className !== toString.call(b)) return false;
@@ -463,7 +463,7 @@
while (length--) {
// Deep compare each member
key = _keys[length];
- if (!(has$1(b, key) && eq(a[key], b[key], aStack, bStack))) return false;
+ if (!(has(b, key) && eq(a[key], b[key], aStack, bStack))) return false;
}
}
// Remove the first object from the stack of traversed objects.
@@ -642,15 +642,15 @@
// Normalize a (deep) property `path` to array.
// Like `_.iteratee`, this function can be customized.
- function toPath$1(path) {
+ function toPath(path) {
return isArray(path) ? path : [path];
}
- _$1.toPath = toPath$1;
+ _.toPath = toPath;
// Internal wrapper for `_.toPath` to enable minification.
// Similar to `cb` for `_.iteratee`.
- function toPath(path) {
- return _$1.toPath(path);
+ function toPath$1(path) {
+ return _.toPath(path);
}
// Internal function to obtain a nested property in `obj` along `path`.
@@ -668,19 +668,19 @@
// `undefined`, return `defaultValue` instead.
// The `path` is normalized through `_.toPath`.
function get(object, path, defaultValue) {
- var value = deepGet(object, toPath(path));
+ var value = deepGet(object, toPath$1(path));
return isUndefined(value) ? defaultValue : value;
}
// Shortcut function for checking if an object has a given property directly on
// itself (in other words, not on a prototype). Unlike the internal `has`
// function, this public version can also traverse nested properties.
- function has(obj, path) {
- path = toPath(path);
+ function has$1(obj, path) {
+ path = toPath$1(path);
var length = path.length;
for (var i = 0; i < length; i++) {
var key = path[i];
- if (!has$1(obj, key)) return false;
+ if (!has(obj, key)) return false;
obj = obj[key];
}
return !!length;
@@ -703,7 +703,7 @@
// Creates a function that, when passed an object, will traverse that object’s
// properties down the given `path`, specified as an array of keys or indices.
function property(path) {
- path = toPath(path);
+ path = toPath$1(path);
return function(obj) {
return deepGet(obj, path);
};
@@ -747,12 +747,12 @@
function iteratee(value, context) {
return baseIteratee(value, context, Infinity);
}
- _$1.iteratee = iteratee;
+ _.iteratee = iteratee;
// The function we call internally to generate a callback. It invokes
// `_.iteratee` if overridden, otherwise `baseIteratee`.
function cb(value, context, argCount) {
- if (_$1.iteratee !== iteratee) return _$1.iteratee(value, context);
+ if (_.iteratee !== iteratee) return _.iteratee(value, context);
return baseIteratee(value, context, argCount);
}
@@ -840,7 +840,7 @@
// By default, Underscore uses ERB-style template delimiters. Change the
// following template settings to use alternative delimiters.
- var templateSettings = _$1.templateSettings = {
+ var templateSettings = _.templateSettings = {
evaluate: /<%([\s\S]+?)%>/g,
interpolate: /<%=([\s\S]+?)%>/g,
escape: /<%-([\s\S]+?)%>/g
@@ -868,20 +868,13 @@
return '\\' + escapes[match];
}
- // In order to prevent third-party code injection through
- // `_.templateSettings.variable`, we test it against the following regular
- // expression. It is intentionally a bit more liberal than just matching valid
- // identifiers, but still prevents possible loopholes through defaults or
- // destructuring assignment.
- var bareIdentifier = /^\s*(\w|\$)+\s*$/;
-
// JavaScript micro-templating, similar to John Resig's implementation.
// Underscore templating handles arbitrary delimiters, preserves whitespace,
// and correctly escapes quotes within interpolated code.
// NB: `oldSettings` only exists for backwards compatibility.
function template(text, settings, oldSettings) {
if (!settings && oldSettings) settings = oldSettings;
- settings = defaults({}, settings, _$1.templateSettings);
+ settings = defaults({}, settings, _.templateSettings);
// Combine delimiters into one regular expression via alternation.
var matcher = RegExp([
@@ -910,17 +903,8 @@
});
source += "';\n";
- var argument = settings.variable;
- if (argument) {
- // Insure against third-party code injection. (CVE-2021-23358)
- if (!bareIdentifier.test(argument)) throw new Error(
- 'variable is not a bare identifier: ' + argument
- );
- } else {
- // If a variable is not specified, place data values in local scope.
- source = 'with(obj||{}){\n' + source + '}\n';
- argument = 'obj';
- }
+ // If a variable is not specified, place data values in local scope.
+ if (!settings.variable) source = 'with(obj||{}){\n' + source + '}\n';
source = "var __t,__p='',__j=Array.prototype.join," +
"print=function(){__p+=__j.call(arguments,'');};\n" +
@@ -928,17 +912,18 @@
var render;
try {
- render = new Function(argument, '_', source);
+ render = new Function(settings.variable || 'obj', '_', source);
} catch (e) {
e.source = source;
throw e;
}
var template = function(data) {
- return render.call(this, data, _$1);
+ return render.call(this, data, _);
};
// Provide the compiled source as a convenience for precompilation.
+ var argument = settings.variable || 'obj';
template.source = 'function(' + argument + '){\n' + source + '}';
return template;
@@ -948,7 +933,7 @@
// is invoked with its parent as context. Returns the value of the final
// child, or `fallback` if any child is undefined.
function result(obj, path, fallback) {
- path = toPath(path);
+ path = toPath$1(path);
var length = path.length;
if (!length) {
return isFunction$1(fallback) ? fallback.call(obj) : fallback;
@@ -974,7 +959,7 @@
// Start chaining a wrapped Underscore object.
function chain(obj) {
- var instance = _$1(obj);
+ var instance = _(obj);
instance._chain = true;
return instance;
}
@@ -1008,7 +993,7 @@
return bound;
});
- partial.placeholder = _$1;
+ partial.placeholder = _;
// Create a function bound to a given object (assigning `this`, and arguments,
// optionally).
@@ -1027,7 +1012,7 @@
var isArrayLike = createSizePropertyCheck(getLength);
// Internal implementation of a recursive `flatten` function.
- function flatten$1(input, depth, strict, output) {
+ function flatten(input, depth, strict, output) {
output = output || [];
if (!depth && depth !== 0) {
depth = Infinity;
@@ -1040,7 +1025,7 @@
if (isArrayLike(value) && (isArray(value) || isArguments$1(value))) {
// Flatten current level of array or arguments object.
if (depth > 1) {
- flatten$1(value, depth - 1, strict, output);
+ flatten(value, depth - 1, strict, output);
idx = output.length;
} else {
var j = 0, len = value.length;
@@ -1057,7 +1042,7 @@
// are the method names to be bound. Useful for ensuring that all callbacks
// defined on an object belong to it.
var bindAll = restArguments(function(obj, keys) {
- keys = flatten$1(keys, false, false);
+ keys = flatten(keys, false, false);
var index = keys.length;
if (index < 1) throw new Error('bindAll must be passed function names');
while (index--) {
@@ -1072,7 +1057,7 @@
var memoize = function(key) {
var cache = memoize.cache;
var address = '' + (hasher ? hasher.apply(this, arguments) : key);
- if (!has$1(cache, address)) cache[address] = func.apply(this, arguments);
+ if (!has(cache, address)) cache[address] = func.apply(this, arguments);
return cache[address];
};
memoize.cache = {};
@@ -1089,7 +1074,7 @@
// Defers a function, scheduling it to run after the current call stack has
// cleared.
- var defer = partial(delay, _$1, 1);
+ var defer = partial(delay, _, 1);
// Returns a function, that, when invoked, will only be triggered at most once
// during a given window of time. Normally, the throttled function will run
@@ -1435,7 +1420,7 @@
if (isFunction$1(path)) {
func = path;
} else {
- path = toPath(path);
+ path = toPath$1(path);
contextPath = path.slice(0, -1);
path = path[path.length - 1];
}
@@ -1577,7 +1562,7 @@
// Groups the object's values by a criterion. Pass either a string attribute
// to group by, or a function that returns the criterion.
var groupBy = group(function(result, value, key) {
- if (has$1(result, key)) result[key].push(value); else result[key] = [value];
+ if (has(result, key)) result[key].push(value); else result[key] = [value];
});
// Indexes the object's values by a criterion, similar to `_.groupBy`, but for
@@ -1590,7 +1575,7 @@
// either a string attribute to count by, or a function that returns the
// criterion.
var countBy = group(function(result, value, key) {
- if (has$1(result, key)) result[key]++; else result[key] = 1;
+ if (has(result, key)) result[key]++; else result[key] = 1;
});
// Split a collection into two arrays: one whose elements all pass the given
@@ -1633,7 +1618,7 @@
keys = allKeys(obj);
} else {
iteratee = keyInObj;
- keys = flatten$1(keys, false, false);
+ keys = flatten(keys, false, false);
obj = Object(obj);
}
for (var i = 0, length = keys.length; i < length; i++) {
@@ -1651,7 +1636,7 @@
iteratee = negate(iteratee);
if (keys.length > 1) context = keys[1];
} else {
- keys = map(flatten$1(keys, false, false), String);
+ keys = map(flatten(keys, false, false), String);
iteratee = function(value, key) {
return !contains(keys, key);
};
@@ -1696,14 +1681,14 @@
// Flatten out an array, either recursively (by default), or up to `depth`.
// Passing `true` or `false` as `depth` means `1` or `Infinity`, respectively.
- function flatten(array, depth) {
- return flatten$1(array, depth, false);
+ function flatten$1(array, depth) {
+ return flatten(array, depth, false);
}
// Take the difference between one array and a number of other arrays.
// Only the elements present in just the first array will remain.
var difference = restArguments(function(array, rest) {
- rest = flatten$1(rest, true, true);
+ rest = flatten(rest, true, true);
return filter(array, function(value){
return !contains(rest, value);
});
@@ -1749,7 +1734,7 @@
// Produce an array that contains the union: each distinct element from all of
// the passed-in arrays.
var union = restArguments(function(arrays) {
- return uniq(flatten$1(arrays, true, true));
+ return uniq(flatten(arrays, true, true));
});
// Produce an array that contains every item shared between all the
@@ -1836,26 +1821,26 @@
// Helper function to continue chaining intermediate results.
function chainResult(instance, obj) {
- return instance._chain ? _$1(obj).chain() : obj;
+ return instance._chain ? _(obj).chain() : obj;
}
// Add your own custom functions to the Underscore object.
function mixin(obj) {
each(functions(obj), function(name) {
- var func = _$1[name] = obj[name];
- _$1.prototype[name] = function() {
+ var func = _[name] = obj[name];
+ _.prototype[name] = function() {
var args = [this._wrapped];
push.apply(args, arguments);
- return chainResult(this, func.apply(_$1, args));
+ return chainResult(this, func.apply(_, args));
};
});
- return _$1;
+ return _;
}
// Add all mutator `Array` functions to the wrapper.
each(['pop', 'push', 'reverse', 'shift', 'sort', 'splice', 'unshift'], function(name) {
var method = ArrayProto[name];
- _$1.prototype[name] = function() {
+ _.prototype[name] = function() {
var obj = this._wrapped;
if (obj != null) {
method.apply(obj, arguments);
@@ -1870,7 +1855,7 @@
// Add all accessor `Array` functions to the wrapper.
each(['concat', 'join', 'slice'], function(name) {
var method = ArrayProto[name];
- _$1.prototype[name] = function() {
+ _.prototype[name] = function() {
var obj = this._wrapped;
if (obj != null) obj = method.apply(obj, arguments);
return chainResult(this, obj);
@@ -1924,12 +1909,12 @@
clone: clone,
tap: tap,
get: get,
- has: has,
+ has: has$1,
mapObject: mapObject,
identity: identity,
constant: constant,
noop: noop,
- toPath: toPath$1,
+ toPath: toPath,
property: property,
propertyOf: propertyOf,
matcher: matcher,
@@ -2012,7 +1997,7 @@
tail: rest,
drop: rest,
compact: compact,
- flatten: flatten,
+ flatten: flatten$1,
without: without,
uniq: uniq,
unique: uniq,
@@ -2026,17 +2011,17 @@
range: range,
chunk: chunk,
mixin: mixin,
- 'default': _$1
+ 'default': _
};
// Default Export
// Add all of the Underscore functions to the wrapper object.
- var _ = mixin(allExports);
+ var _$1 = mixin(allExports);
// Legacy Node.js API.
- _._ = _;
+ _$1._ = _$1;
- return _;
+ return _$1;
})));
-//# sourceMappingURL=underscore-umd.js.map
+//# sourceMappingURL=underscore.js.map
diff --git a/content/html/_static/underscore.js b/content/html/_static/underscore.js
index cf177d4..166240e 100644
--- a/content/html/_static/underscore.js
+++ b/content/html/_static/underscore.js
@@ -1,6 +1,6 @@
-!function(n,r){"object"==typeof exports&&"undefined"!=typeof module?module.exports=r():"function"==typeof define&&define.amd?define("underscore",r):(n="undefined"!=typeof globalThis?globalThis:n||self,function(){var t=n._,e=n._=r();e.noConflict=function(){return n._=t,e}}())}(this,(function(){
-// Underscore.js 1.13.1
+!function(n,r){"object"==typeof exports&&"undefined"!=typeof module?module.exports=r():"function"==typeof define&&define.amd?define("underscore",r):(n=n||self,function(){var t=n._,e=n._=r();e.noConflict=function(){return n._=t,e}}())}(this,(function(){
+// Underscore.js 1.12.0
// https://underscorejs.org
-// (c) 2009-2021 Jeremy Ashkenas, Julian Gonggrijp, and DocumentCloud and Investigative Reporters & Editors
+// (c) 2009-2020 Jeremy Ashkenas, DocumentCloud and Investigative Reporters & Editors
// Underscore may be freely distributed under the MIT license.
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-<li class="toctree-l2"><a class="reference internal" href="simulator/world_osi.html#localization">Localization</a><ul>
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+<p class="caption"><span class="caption-text">Advanced topics</span></p>
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+<li class="toctree-l1 current"><a class="current reference internal" href="#">Simulator</a><ul>
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+<li class="toctree-l2"><a class="reference internal" href="simulator/event_detector.html">EventDetector</a></li>
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+<span id="simulator-advanced"></span><h1>Simulator<a class="headerlink" href="#simulator" title="Permalink to this headline">¶</a></h1>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="simulator/agent_components.html">Agent Components</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#action-longitudinaldriver">Action_LongitudinalDriver</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#action-secondarydriver">Action_SecondaryDriver</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#agentupdater">AgentUpdater</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#algorithm-lateral">Algorithm_Lateral</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#algorithm-longitudinal">Algorithm_Longitudinal</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#dynamics-collision">Dynamics_Collision</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#dynamics-regulardriving">Dynamics_RegularDriving</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#limiteraccelerationvehiclecomponents">LimiterAccelerationVehicleComponents</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#openscenarioactions">OpenScenarioActions</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#parameters-vehicle">Parameters_Vehicle</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#sensor-driver">Sensor_Driver</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#sensor-osi">Sensor_OSI</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="simulator/agent_components.html#function">Function</a></li>
+<li class="toctree-l3"><a class="reference internal" href="simulator/agent_components.html#cases">Cases</a></li>
+<li class="toctree-l3"><a class="reference internal" href="simulator/agent_components.html#visual-obstruction">Visual Obstruction</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#sensorfusionosi">SensorFusionOSI</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#signalprioritizer">SignalPrioritizer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/agent_components.html#componentcontroller">ComponentController</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="simulator/agent_components.html#overview">Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="simulator/agent_components.html#state-handling-inside-vehicle-component">State handling inside Vehicle Component</a></li>
+<li class="toctree-l3"><a class="reference internal" href="simulator/agent_components.html#used-signals">Used signals</a></li>
+</ul>
+</li>
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+</li>
+<li class="toctree-l1"><a class="reference internal" href="simulator/event_detector.html">EventDetector</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="simulator/event_detector.html#collisiondetector">CollisionDetector</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="simulator/simulation.html">Simulation</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="simulator/simulation.html#command-line-arguments">Command Line Arguments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/simulation.html#scheduler">Scheduler</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="simulator/simulation.html#executing-phases">Executing phases</a></li>
+<li class="toctree-l3"><a class="reference internal" href="simulator/simulation.html#task-type-description">Task type description</a></li>
+<li class="toctree-l3"><a class="reference internal" href="simulator/simulation.html#task-priorities">Task priorities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="simulator/world_osi.html">World_OSI</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="simulator/world_osi.html#coordinate-systems">Coordinate Systems</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="simulator/world_osi.html#world-coordinate-system">World Coordinate System</a></li>
+<li class="toctree-l3"><a class="reference internal" href="simulator/world_osi.html#road-coordinate-system">Road Coordinate System</a></li>
+<li class="toctree-l3"><a class="reference internal" href="simulator/world_osi.html#agent-coordinate-system">Agent Coordinate System</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="simulator/world_osi.html#sampling-of-world-geometries">Sampling of World Geometries</a></li>
+<li class="toctree-l2"><a class="reference internal" href="simulator/world_osi.html#localization">Localization</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="simulator/world_osi.html#basics">Basics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="simulator/world_osi.html#localization-sequence">Localization sequence</a></li>
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+<li class="toctree-l1 current"><a class="current reference internal" href="#">EndToEnd Test Framework</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#prerequisites">Prerequisites</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#execution">Execution</a></li>
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+
+ <div class="section" id="endtoend-test-framework">
+<span id="testing-endtoend"></span><h1>EndToEnd Test Framework<a class="headerlink" href="#endtoend-test-framework" title="Permalink to this headline">¶</a></h1>
+<p><strong>pyOpenPASS</strong></p>
+<p>This tool acts as configurable executor for complete sets of configs for the openPASS simulation.
+The test framework is located at <code class="docutils literal notranslate"><span class="pre">sim/tests/endToEndTests/pyOpenPASS</span></code>.</p>
+<div class="section" id="prerequisites">
+<h2>Prerequisites<a class="headerlink" href="#prerequisites" title="Permalink to this headline">¶</a></h2>
+<p>Please refer to <a class="reference internal" href="../installation_guide/20_install_prerequisites.html#binary-packages"><span class="std std-ref">Installing the Binary Packages</span></a> for instructions on installing the prerequisites.</p>
+</div>
+<div class="section" id="execution">
+<h2>Execution<a class="headerlink" href="#execution" title="Permalink to this headline">¶</a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>main.py
+ -s SIMULATION <span class="c1"># path to simulation executable, e.g. /openPASS/bin</span>
+ -m MUTUAL_RESOURCES_PATH <span class="c1"># path to mutual config files for all runs, e.g. /examples/common</span>
+ -r RESOURCES_PATH <span class="c1"># path from where configs are retrieved (override common files if necessary)</span>
+ -c PYOPENPASS_CONFIG.JSON <span class="c1"># JSON config for pyOpenPASS</span>
+ --scope SCOPE_IN_PYOPENPASS_CONFIG <span class="c1"># A user defined scope in the config (such as fast, nightly, ...)</span>
+ -d <span class="c1"># Debug some pandas dataframes as csv to /tmp or C:\temp</span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="configuration">
+<h2>Configuration<a class="headerlink" href="#configuration" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Basic tests: Check executability of configs + Determinism test (<em>1 x n</em> vs <em>n x 1</em> tests).</p></li>
+<li><p>Specialized tests: Execute config and check for specific results in the output of the simulator.</p></li>
+</ul>
+<div class="section" id="basic-tests">
+<h3>Basic Tests<a class="headerlink" href="#basic-tests" title="Permalink to this headline">¶</a></h3>
+<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
+ <span class="nt">"scopes"</span><span class="p">:</span>
+ <span class="p">{</span>
+ <span class="nt">"THE_SCOPE"</span><span class="p">:</span>
+ <span class="p">{</span>
+ <span class="nt">"baseConfig"</span><span class="p">:</span>
+ <span class="p">{</span>
+ <span class="nt">"duration"</span><span class="p">:</span> <span class="mi">60</span><span class="p">,</span>
+ <span class="nt">"randomSeed"</span><span class="p">:</span> <span class="mi">0</span><span class="p">,</span>
+ <span class="nt">"invocations"</span><span class="p">:</span> <span class="mi">100</span>
+ <span class="p">},</span>
+ <span class="nt">"configurations"</span><span class="p">:</span>
+ <span class="p">[</span>
+ <span class="s2">"CONFIG_UNDER_TEST1"</span><span class="p">,</span>
+ <span class="s2">"CONFIG_UNDER_TEST2"</span>
+ <span class="p">]</span>
+ <span class="p">}</span>
+ <span class="p">}</span>
+<span class="p">}</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>RandomSeed is an optional value.
+If set, it will override the value given with the configuration.</p>
+</div>
+</div>
+<div class="section" id="parameterized-tests">
+<h3>Parameterized Tests<a class="headerlink" href="#parameterized-tests" title="Permalink to this headline">¶</a></h3>
+<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
+ <span class="nt">"scopes"</span><span class="p">:</span>
+ <span class="p">{</span>
+ <span class="nt">"THE_SCOPE"</span><span class="p">:</span>
+ <span class="p">{</span>
+ <span class="nt">"baseConfig"</span><span class="p">:</span>
+ <span class="p">{</span>
+ <span class="nt">"duration"</span><span class="p">:</span> <span class="mi">60</span><span class="p">,</span>
+ <span class="nt">"randomSeed"</span><span class="p">:</span> <span class="mi">0</span><span class="p">,</span>
+ <span class="nt">"invocations"</span><span class="p">:</span> <span class="mi">100</span>
+ <span class="p">},</span>
+ <span class="nt">"parameterization"</span><span class="p">:</span>
+ <span class="p">{</span>
+ <span class="nt">"file"</span><span class="p">:</span> <span class="s2">"someConfigFile.xml"</span><span class="p">,</span>
+ <span class="nt">"xpath"</span><span class="p">:</span> <span class="s2">"//some/value"</span><span class="p">,</span>
+ <span class="nt">"values"</span><span class="p">:</span> <span class="p">[</span><span class="s2">"value1"</span><span class="p">,</span> <span class="s2">"value2"</span><span class="p">,</span> <span class="s2">"value3"</span><span class="p">]</span>
+ <span class="p">},</span>
+ <span class="nt">"configurations"</span><span class="p">:</span>
+ <span class="p">[</span>
+ <span class="s2">"CONFIG_UNDER_TEST1"</span><span class="p">,</span>
+ <span class="s2">"CONFIG_UNDER_TEST2"</span>
+ <span class="p">]</span>
+ <span class="p">}</span>
+ <span class="p">}</span>
+<span class="p">}</span>
+</pre></div>
+</div>
+<p>If parameterization specified, the generic tests are executed for each config and each parameter value.
+The value is injected into a single configuration file, specified via its filename and an valid xpath.
+As values might be contain paths to resources, the variable <code class="docutils literal notranslate"><span class="pre">${configFolder}</span></code> can be used as dynamic placeholder.</p>
+<p><strong>Example</strong></p>
+<p>With the core being at <code class="docutils literal notranslate"><span class="pre">/OpenPASS/bin</span></code> the scope <code class="docutils literal notranslate"><span class="pre">FMU_Test</span></code> shall be executed using two different FMUs:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="s2">"values"</span><span class="p">:</span> <span class="p">[</span><span class="s2">"$</span><span class="si">{configFolder}</span><span class="s2">/resources/FMUv1.fmu"</span><span class="p">,</span><span class="s2">"$</span><span class="si">{configFolder}</span><span class="s2">/resources/FMUv2.fmu"</span> <span class="p">]</span>
+</pre></div>
+</div>
+<p>For each parameter, a different config folder <code class="docutils literal notranslate"><span class="pre">configs/FMU_Test_#</span></code> is created, where <code class="docutils literal notranslate"><span class="pre">#</span></code> is the parameters index.
+Before execution, the value of the first parameter <code class="docutils literal notranslate"><span class="pre">${configFolder}/resources/FMUv1.fmu</span></code> is replaced with the absolute path <code class="docutils literal notranslate"><span class="pre">/OpenPASS/bin/configs/FMU_Test_0/resources/FMUv1</span></code>.</p>
+</div>
+<div class="section" id="specialized-tests">
+<h3>Specialized Tests<a class="headerlink" href="#specialized-tests" title="Permalink to this headline">¶</a></h3>
+<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
+ <span class="nt">"scopes"</span><span class="p">:</span>
+ <span class="p">{</span>
+ <span class="nt">"THE_SCOPE"</span><span class="p">:</span>
+ <span class="p">{</span>
+ <span class="nt">"baseConfig"</span><span class="p">:</span>
+ <span class="p">{</span>
+ <span class="nt">"duration"</span><span class="p">:</span> <span class="mi">30</span><span class="p">,</span>
+ <span class="nt">"randomSeed"</span><span class="p">:</span> <span class="mi">0</span><span class="p">,</span>
+ <span class="nt">"invocations"</span><span class="p">:</span> <span class="mi">100</span>
+ <span class="p">},</span>
+ <span class="nt">"specialized"</span><span class="p">:</span>
+ <span class="p">{</span>
+ <span class="nt">"description"</span><span class="p">:</span> <span class="s2">"A CONCISE DESCRIPTION OF THE SCOPE"</span><span class="p">,</span>
+ <span class="nt">"query"</span><span class="p">:</span> <span class="s2">"A VALID QUERY STRING (SEE BELOW)"</span><span class="p">,</span>
+ <span class="nt">"success_rate"</span><span class="p">:</span> <span class="mf">0.9</span>
+ <span class="p">},</span>
+ <span class="nt">"configurations"</span><span class="p">:</span>
+ <span class="p">[</span>
+ <span class="s2">"CONFIG_UNDER_TEST1"</span><span class="p">,</span>
+ <span class="s2">"CONFIG_UNDER_TEST2"</span>
+ <span class="p">]</span>
+ <span class="p">}</span>
+ <span class="p">}</span>
+<span class="p">}</span>
+</pre></div>
+</div>
+<p>Note that <code class="docutils literal notranslate"><span class="pre">description</span></code> is an optional value, which is currently not used by the framework, but helps to remember, what the test is about.
+It is strongly advised to set it, as it might be used in future releases.</p>
+</div>
+</div>
+<div class="section" id="querying-results">
+<h2>Querying Results<a class="headerlink" href="#querying-results" title="Permalink to this headline">¶</a></h2>
+<p>Specialized Tests allow to define a query for checking the results of a simulation.</p>
+<div class="section" id="basic-syntax">
+<h3>Basic Syntax<a class="headerlink" href="#basic-syntax" title="Permalink to this headline">¶</a></h3>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">[</span><span class="n">aggregate</span><span class="p">]([</span><span class="n">column</span><span class="p">]</span> <span class="o">|</span> <span class="p">[</span><span class="nb">filter</span><span class="p">])</span> <span class="p">[</span><span class="n">operator</span><span class="p">]</span> <span class="p">[</span><span class="n">value</span><span class="p">]</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p>Aggregate:
+Everything pandas supports on dataframes, such as <a class="reference external" href="https://pandas.pydata.org/pandas-docs/stable/reference/api/pandas.DataFrame.count.html?highlight=count#pandas.DataFrame.count">pandas.DataFrame.count</a>, min, max, mean</p></li>
+<li><p>Column:
+A column on which the aggregate should operate.
+Columns are given by the simulation outputs cyclic columns, such as <code class="docutils literal notranslate"><span class="pre">PositionRoute</span></code>.
+Additionally <code class="docutils literal notranslate"><span class="pre">AgentId</span></code> is made available.</p></li>
+<li><p>Filter:
+A filter based on <a class="reference external" href="https://pandas.pydata.org/pandas-docs/stable/reference/api/pandas.DataFrame.filter.html?highlight=filter#pandas.DataFrame.filter">pandas.DataFrame.filter</a> syntax using the available columns.</p></li>
+<li><p>Operator:
+A comparison operator from the following list: ==, <=, >=, <, >, !=, ~= (approximate).
+The approximate operator allows <code class="docutils literal notranslate"><span class="pre">1*e-6</span> <span class="pre">x</span> <span class="pre">value</span></code> as maximum deviation from value.</p></li>
+<li><p>Value:
+A number</p></li>
+</ul>
+<p><strong>Example</strong></p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">count</span><span class="p">(</span><span class="n">AgentId</span> <span class="o">|</span> <span class="n">PositionRoute</span> <span class="o">>=</span> <span class="mi">800</span> <span class="ow">and</span> <span class="n">Lane</span> <span class="o">!=</span> <span class="o">-</span><span class="mi">3</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="using-events-in-filter">
+<h3>Using Events in Filter<a class="headerlink" href="#using-events-in-filter" title="Permalink to this headline">¶</a></h3>
+<p>In order to query for a specific event, use <code class="docutils literal notranslate"><span class="pre">#(EVENT)</span></code> within the filter syntax.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">count</span><span class="p">(</span><span class="n">AgentId</span> <span class="o">|</span> <span class="n">PositionRoute</span> <span class="o">>=</span> <span class="mi">800</span> <span class="ow">and</span> <span class="c1">#(Collision) == True) == 0</span>
+</pre></div>
+</div>
+<div class="section" id="event-payload">
+<h4>Event Payload<a class="headerlink" href="#event-payload" title="Permalink to this headline">¶</a></h4>
+<p>Each event is associated with a set of triggering entity ids, affected entity ids, and arbitrary key/value pairs (please refer to the openPASS documentation for details).
+This information is transformed into a “per agent” scope.</p>
+<p>In the following the <code class="docutils literal notranslate"><span class="pre">Collision</span></code> event is taken as example.</p>
+<p><strong>TriggeringEntity</strong></p>
+<p>All agents, flagged as triggering become <code class="docutils literal notranslate"><span class="pre">IsTriggering</span></code></p>
+<p>Query: <code class="docutils literal notranslate"><span class="pre">#(Collision):IsTriggering</span> <span class="pre">==</span> <span class="pre">True</span></code></p>
+<p><strong>AffectedEntity</strong></p>
+<p>All agents, flagged as affected become <code class="docutils literal notranslate"><span class="pre">IsAffected</span></code></p>
+<p>Query: <code class="docutils literal notranslate"><span class="pre">#(Collision):IsAffected</span> <span class="pre">==</span> <span class="pre">True</span></code></p>
+<p><strong>Key/Value Pairs</strong></p>
+<p>If an event publishes additional payload with the key <code class="docutils literal notranslate"><span class="pre">XYZ</span></code>, it will can be queried by <code class="docutils literal notranslate"><span class="pre">#(EVENT):XYZ</span></code>.</p>
+<p>Query: <code class="docutils literal notranslate"><span class="pre">#(Collision):WithAgent</span></code></p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Keys carrying the event name as prefix, such as in <code class="docutils literal notranslate"><span class="pre">#(Collision):CollisionWithAgent</span></code>, will be stripped to <code class="docutils literal notranslate"><span class="pre">Collision:WithAgent</span></code></p>
+</div>
+</div>
+<div class="section" id="query-example">
+<h4>Query Example<a class="headerlink" href="#query-example" title="Permalink to this headline">¶</a></h4>
+<div class="line-block">
+<div class="line"><em>No agent should collide with agent 0:</em></div>
+<div class="line"><code class="docutils literal notranslate"><span class="pre">count(AgentId</span> <span class="pre">|</span> <span class="pre">AgentId</span> <span class="pre">==</span> <span class="pre">0</span> <span class="pre">and</span> <span class="pre">#(Collision):WithAgent</span> <span class="pre">==</span> <span class="pre">1)</span> <span class="pre">==</span> <span class="pre">0</span></code></div>
+</div>
+</div>
+</div>
+<div class="section" id="using-openscenario-events">
+<h3>Using openSCENARIO Events<a class="headerlink" href="#using-openscenario-events" title="Permalink to this headline">¶</a></h3>
+<p>OpenScenario events are processed in the same manner as regular events (see above).</p>
+<p>This allows to query for occurrences of openSCENARIO events with a name specified within the following xpath:
+<code class="docutils literal notranslate"><span class="pre">OpenSCENARIO/Story/Act/Sequence/Maneuver/Event/@name</span></code></p>
+<p><strong>openSCENARIO Event Definition</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Story</span> <span class="na">name=</span><span class="s">"TheStory"</span><span class="nt">></span>
+ <span class="nt"><Act</span> <span class="na">name=</span><span class="s">"TheAct"</span><span class="nt">></span>
+ <span class="nt"><Sequence</span> <span class="na">name=</span><span class="s">"TheSequence"</span> <span class="na">numberOfExecutions=</span><span class="s">"1"</span><span class="nt">></span>
+ ...
+ <span class="nt"><Maneuver</span> <span class="na">name=</span><span class="s">"TheManeuver"</span><span class="nt">></span>
+ ...
+ <span class="c"><!-- example name "ttc_event"--></span>
+ <span class="nt"><Event</span> <span class="na">name=</span><span class="s">"ttc_event"</span> <span class="na">priority=</span><span class="s">"overwrite"</span><span class="nt">></span>
+ ...
+ <span class="nt"><StartConditions></span>
+ <span class="nt"><ConditionGroup></span>
+ <span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"Conditional"</span><span class="nt">></span>
+ <span class="nt"><ByEntity></span>
+ ...
+ <span class="nt"><EntityCondition></span>
+ <span class="nt"><TimeToCollision></span>
+ ...
+ <span class="nt"></TimeToCollision></span>
+ <span class="nt"></EntityCondition></span>
+ <span class="nt"></ByEntity></span>
+ <span class="nt"></Condition></span>
+ <span class="nt"></ConditionGroup></span>
+ <span class="nt"></StartConditions></span>
+ <span class="nt"></Event></span>
+ ...
+ <span class="nt"></Maneuver></span>
+ <span class="nt"></Sequence></span>
+ <span class="nt"></Act></span>
+<span class="nt"></Story></span>
+</pre></div>
+</div>
+<p><strong>Example openPASS Output</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Event</span> <span class="na">Time=</span><span class="s">"0"</span> <span class="na">Source=</span><span class="s">"OpenSCENARIO"</span> <span class="na">Name=</span><span class="s">"TheStory/TheAct/TheSequence/TheManeuver/ttc_event"</span><span class="nt">></span>
+ <span class="nt"><TriggeringEntities/></span>
+ <span class="nt"><AffectedEntities></span>
+ <span class="nt"><Entity</span> <span class="na">Id=</span><span class="s">"1"</span><span class="nt">/></span>
+ <span class="nt"></AffectedEntities></span>
+ <span class="nt"><Parameters/></span>
+<span class="nt"></Event></span>
+</pre></div>
+</div>
+<p><strong>Query</strong></p>
+<p><code class="docutils literal notranslate"><span class="pre">count(AgentId</span> <span class="pre">|</span> <span class="pre">#(TheStory/TheAct/TheSequence/TheManeuver/ttc_event)</span> <span class="pre">==</span> <span class="pre">True</span> <span class="pre">)</span> <span class="pre">></span> <span class="pre">0</span></code></p>
+</div>
+<div class="section" id="querying-transitions">
+<h3>Querying Transitions<a class="headerlink" href="#querying-transitions" title="Permalink to this headline">¶</a></h3>
+<p>Sometimes it is necessary to check, whether a transition happened, such as counting agents, passing a certain position.</p>
+<p>This can be achieved by shifting individual columns by <code class="docutils literal notranslate"><span class="pre">N</span></code> time steps.</p>
+<p><strong>Time Shift Syntax</strong></p>
+<p><code class="docutils literal notranslate"><span class="pre">Column-Shift</span></code> => <code class="docutils literal notranslate"><span class="pre">PositionRoute-1</span></code> means PositionRoute at one time step earlier</p>
+<p><strong>Example Use Case</strong></p>
+<p>Counting agents passing <code class="docutils literal notranslate"><span class="pre">PositionRoute</span> <span class="pre">==</span> <span class="pre">350</span></code> on <code class="docutils literal notranslate"><span class="pre">LaneId</span> <span class="pre">==</span> <span class="pre">-1</span></code></p>
+<p><strong>Query</strong></p>
+<p><code class="docutils literal notranslate"><span class="pre">count(AgentId</span> <span class="pre">|</span> <span class="pre">LaneId</span> <span class="pre">==</span> <span class="pre">-1</span> <span class="pre">and</span> <span class="pre">PositionRoute-1</span> <span class="pre"><</span> <span class="pre">350</span> <span class="pre">and</span> <span class="pre">PositionRoute</span> <span class="pre">>=</span> <span class="pre">350</span> <span class="pre">)</span> <span class="pre">></span> <span class="pre">0</span></code></p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>In seldom cases, a result column happens to have a name like <code class="docutils literal notranslate"><span class="pre">Name-N</span></code> where <code class="docutils literal notranslate"><span class="pre">N</span></code> is an integer.
+Querying this column would automatically apply time shifting (default behavior) leading to a parsing error.
+In such cases, escape the column name with single quotes (e.g. <code class="docutils literal notranslate"><span class="pre">'Name-1'</span></code>).</p>
+</div>
+</div>
+<div class="section" id="explicit-datatypes">
+<h3>Explicit Datatypes<a class="headerlink" href="#explicit-datatypes" title="Permalink to this headline">¶</a></h3>
+<p>pyOpenPASS uses Pandas DataFrames internally.
+Pandas will try to detect the datatype of the individual cyclic columns automatically.
+This won’t fit the user’s intention in some cases, such as when the column holds a semicolon separated list of integers but every list contains just one element.
+In such cases it is impossible to distinguish between integers and strings based on the data.</p>
+<p>For this reason, datatypes can be specified explicitly in the JSON config file:</p>
+<div class="highlight-js notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
+ <span class="s2">"datatypes"</span><span class="o">:</span> <span class="p">{</span>
+ <span class="s2">"Sensor0_DetectedAgents"</span><span class="o">:</span> <span class="s2">"str"</span> <span class="c1">// string with "missing value" support</span>
+ <span class="p">},</span>
+ <span class="s2">"scopes"</span><span class="o">:</span>
+ <span class="p">{</span>
+ <span class="p">...</span>
+</pre></div>
+</div>
+</div>
+</div>
+<div class="section" id="test-report-generator">
+<h2>Test Report Generator<a class="headerlink" href="#test-report-generator" title="Permalink to this headline">¶</a></h2>
+<p>Generates an HTML report for results from the pyOpenPASS EndToEndTest Framework tool.</p>
+<p><strong>Command</strong></p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>report.py
+ -r RESOURCE1, RESOURCE2, ... <span class="c1"># One or more resource folders</span>
+ -c PYOPENPASS_CONFIG.JSON <span class="c1"># JSON config for pyOpenPASS</span>
+ --scope SCOPE1, SCOPE2, ... <span class="c1"># One or more scopes to be considered</span>
+ --results SIMULATOR_RESULT_PATH <span class="c1"># Path with results from simulator (should be the same for all scopes)</span>
+ --output PATH_FOR_REPORT <span class="c1"># Path where the report should be written to</span>
+</pre></div>
+</div>
+</div>
+</div>
+
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- <div class="section" id="agent-components">
-<span id="agentcomponents"></span><h1>Agent Components<a class="headerlink" href="#agent-components" title="Permalink to this headline">¶</a></h1>
-<p>An agent in openPASS is composed of multiple modules, which are connected by corresponding signals.
-As shown in the next figure, the modules can be roughly divided into the groups drivers, vehicle components, algorithms, dynamic modules, and prioritizers.
-Thereby, modules can consist of several submodules, such as sensor (reading from an interface) and action (writing to an interface).</p>
-<div class="figure align-default" id="id1">
-<img alt="../../_images/DynamicsModules.png" src="../../_images/DynamicsModules.png" />
-<p class="caption"><span class="caption-text">Modules for longitudinal and lateral dynamics</span><a class="headerlink" href="#id1" title="Permalink to this image">¶</a></p>
-</div>
-<p>By statistic means, based on corresponding probabilities defined in the <a class="reference internal" href="../../user_guide/sim_user_guide/input/profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a>, each individual agent is composed from a superset of all possible (valid) combinations, which is defined by the <a class="reference internal" href="../../user_guide/sim_user_guide/input/systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a>.
-This config defines all available framework modules and agent modules and connects them by corresponding channels, which in turn have a specific signal type.</p>
-<p>The next figure gives an exhaustive overview over the current superset:</p>
-<div class="figure align-default" id="id2">
-<img alt="../../_images/ComponentsChannelCommunicationDiagram.svg" src="../../_images/ComponentsChannelCommunicationDiagram.svg" /><p class="caption"><span class="caption-text">Components and channel communication</span><a class="headerlink" href="#id2" title="Permalink to this image">¶</a></p>
-</div>
-<p><a class="reference download internal" download="" href="../../_downloads/9aabdb34246c59e548d181762c2e97b2/ComponentsChannelCommunicationDiagram.svg"><code class="xref download docutils literal notranslate"><span class="pre">./images/ComponentsChannelCommunicationDiagram.svg</span></code></a></p>
-<p>Modules that can be paramerized by the user are explained in the <a class="reference internal" href="../../user_guide/20_sim_user_guide.html#simuserguide-components"><span class="std std-ref">Simulation User Guide</span></a>.
-Therefor the following section only contains the components not listed in the user guide.</p>
-<div class="section" id="action-longitudinaldriver">
-<h2>Action_LongitudinalDriver<a class="headerlink" href="#action-longitudinaldriver" title="Permalink to this headline">¶</a></h2>
-<p>Updates the agents pedal positions and gear.
-The input for this module is prepared by the AlgorithmLongitudinal Module.</p>
-</div>
-<div class="section" id="action-secondarydriver">
-<h2>Action_SecondaryDriver<a class="headerlink" href="#action-secondarydriver" title="Permalink to this headline">¶</a></h2>
-<p>Updates the agents BrakingLight, Indicator, Horn and all Lightswitches (Headlight, HighBeam, Flasher).
-The input for this module is prepared by the driver module.</p>
-</div>
-<div class="section" id="agentupdater">
-<h2>AgentUpdater<a class="headerlink" href="#agentupdater" title="Permalink to this headline">¶</a></h2>
-<p>The AgentUpdater executes all Set-Methods of the agent dynamics after the DynamicsPrioritizer. This includes position, velocity, acceleration and rotation.</p>
-</div>
-<div class="section" id="algorithm-lateral">
-<h2>Algorithm_Lateral<a class="headerlink" href="#algorithm-lateral" title="Permalink to this headline">¶</a></h2>
-<p>This module converts the lateral input of the driver module into a steeringwheel angle.</p>
-</div>
-<div class="section" id="algorithm-longitudinal">
-<h2>Algorithm_Longitudinal<a class="headerlink" href="#algorithm-longitudinal" title="Permalink to this headline">¶</a></h2>
-<p>This module converts the acceleration input of the driver module into pedal positions and gear.</p>
-</div>
-<div class="section" id="dynamics-collision">
-<h2>Dynamics_Collision<a class="headerlink" href="#dynamics-collision" title="Permalink to this headline">¶</a></h2>
-<p>If the number of collision partners of the agent is bigger than in the previous timestep, the DynamicsCollision module calculates the collision.
-Currently the collision is implemented fully inelastic, i.e. all agents will have the same velocity after the collision, while the momentum is conserved.
-After the collision the agents slow down with a fixed deceleration until fully stopped.</p>
-</div>
-<div class="section" id="dynamics-regulardriving">
-<h2>Dynamics_RegularDriving<a class="headerlink" href="#dynamics-regulardriving" title="Permalink to this headline">¶</a></h2>
-<p>The module takes care that the motion of the agent fit to the physical limitations, such as friction or maximum possible acceleration based on the current gear.
-This module uses both the world friction and the vehiclemodelparameter friction.
-Thereby it calculates the dynamics of the agents in every time step.
-The currently covered dynamics are <em>Acceleration</em>, <em>Velocity</em>, and consequently <em>Position</em>, <em>Yaw angle</em> and <em>Yaw rate</em>.
-The input for this module is the steeringwheel angle and the new acceleration of the vehicle.</p>
-</div>
-<div class="section" id="limiteraccelerationvehiclecomponents">
-<h2>LimiterAccelerationVehicleComponents<a class="headerlink" href="#limiteraccelerationvehiclecomponents" title="Permalink to this headline">¶</a></h2>
-<p>This module limits the AccelerationSignal from the PrioritizerAccelerationVehicleComponents to the constraints given by the vehicle. The DynamicsTrajectoryFollower can then use this signal to calculate a trajectory.</p>
-<p>The limit is calculated by <span class="math">a_{\text{lim}} = \frac {F_{\text{wheel}} - F_{\text{roll}} - F_{\text{air}}} {m_{\text{veh}}}</span>, where the symbols meanings are:</p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 33%" />
-<col style="width: 67%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Symbol</p></th>
-<th class="head"><p>Decription</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><span class="math">a_{\text{lim}}</span></p></td>
-<td><p>Resulting acceleration limit [m/s²]</p></td>
-</tr>
-<tr class="row-odd"><td><p><span class="math">F_{\text{wheel}}</span></p></td>
-<td><p>Force at wheel (provided by drivetrain) [N]</p></td>
-</tr>
-<tr class="row-even"><td><p><span class="math">F_{\text{roll}}</span></p></td>
-<td><p>Force resulting from rolling resistance [N]</p></td>
-</tr>
-<tr class="row-odd"><td><p><span class="math">F_{\text{air}}</span></p></td>
-<td><p>Force resulting from air drag [N]</p></td>
-</tr>
-<tr class="row-even"><td><p><span class="math">m_{\text{veh}}</span></p></td>
-<td><p>Mass of the vehicle [kg]</p></td>
-</tr>
-</tbody>
-</table>
-<p>The components are calculated as follows:</p>
-<p><strong>Driving force</strong></p>
-<p><span class="math">F_{\text{wheel}} = \frac {T_{\text{engine}} \cdot r_{\text{axle}}} {r_{\text{wheel}}}</span></p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 21%" />
-<col style="width: 79%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Symbol</p></th>
-<th class="head"><p>Decription</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><span class="math">T_{\text{engine}}</span></p></td>
-<td><p>Resulting torque from drivetrain at current velocity (assumung best gearing selected) [Nm]</p></td>
-</tr>
-<tr class="row-odd"><td><p><span class="math">r_{\text{axle}}</span></p></td>
-<td><p>Axle transmission ratio [1]</p></td>
-</tr>
-<tr class="row-even"><td><p><span class="math">r_{\text{wheel}}</span></p></td>
-<td><p>Static radius of the wheels [m]</p></td>
-</tr>
-</tbody>
-</table>
-<p>The engine torque <span class="math">T_{\text{engine}}</span> is calculated by a simple model, where the torque scales proportional with the current engine speed between 1350 and 5000 rpm, up to maximum engine torque.
-From minimum engine speed up to 1350 rpm the torque scales proportional with the engine speed up to half the maximum torque.
-From 5000 rpm up to maximum engine speed, the torque scales with 5000 / maxEngineSpeed, up to maximum torque.</p>
-<p><strong>Rolling resistance</strong></p>
-<p><span class="math">F_{\text{roll}} = m_{\text{veh}} \cdot c_{\text{fric}} \cdot g</span></p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 21%" />
-<col style="width: 79%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Symbol</p></th>
-<th class="head"><p>Decription</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><span class="math">m_{\text{veh}}</span></p></td>
-<td><p>Mass of the vehicle [kg]</p></td>
-</tr>
-<tr class="row-odd"><td><p><span class="math">c_{\text{fric}}</span></p></td>
-<td><p>Rolling friction coefficient (constant 0.015) [1]</p></td>
-</tr>
-</tbody>
-</table>
-<p><strong>Air drag</strong></p>
-<p><span class="math">F_{\text{air}} = \frac {\rho_{\text{air}}} {2} \cdot A_{\text{front}} \cdot c_w \cdot v^2</span></p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 21%" />
-<col style="width: 79%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Symbol</p></th>
-<th class="head"><p>Decription</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><span class="math">\rho_{\text{air}}</span></p></td>
-<td><p>Densitiy of air [kg/m³]</p></td>
-</tr>
-<tr class="row-odd"><td><p><span class="math">A_{\text{front}}</span></p></td>
-<td><p>Vehicle front surface area [m²]</p></td>
-</tr>
-<tr class="row-even"><td><p><span class="math">c_w</span></p></td>
-<td><p>Drag coefficient [1]</p></td>
-</tr>
-<tr class="row-odd"><td><p><span class="math">v</span></p></td>
-<td><p>Vehicle’s current velocity [m/s]</p></td>
-</tr>
-</tbody>
-</table>
-</div>
-<div class="section" id="openscenarioactions">
-<h2>OpenScenarioActions<a class="headerlink" href="#openscenarioactions" title="Permalink to this headline">¶</a></h2>
-<p>As defined by openSCENARIO, OpenScenarioActions is the relaying module for:</p>
-<ul class="simple">
-<li><p>Trajectory-actions</p></li>
-<li><p>LaneChange-actions</p></li>
-<li><p>UserDefined-actions.</p></li>
-</ul>
-<p>If a</p>
-<ul class="simple">
-<li><p>TrajectoryManipulator</p></li>
-<li><p>LaneChangeManipulator</p></li>
-</ul>
-<p>or a user defined manipulator</p>
-<p>raises such an event for the specified agent, the module forwards it as signal to all interested module of the corresponding agent. The modules can than react on the signals content without time delay.</p>
-</div>
-<div class="section" id="parameters-vehicle">
-<h2>Parameters_Vehicle<a class="headerlink" href="#parameters-vehicle" title="Permalink to this headline">¶</a></h2>
-<p>The ParametersVehicle module forwards the VehicleModelParamters to all other moduls that need them via the ParametersVehicleSignal</p>
-</div>
-<div class="section" id="sensor-driver">
-<h2>Sensor_Driver<a class="headerlink" href="#sensor-driver" title="Permalink to this headline">¶</a></h2>
-<p>The SensorDriver performs queries on the AgentInterface to gather information about the own agent and its surroundings. These are forwarded to the driver modules and the Algorithm modules, which use them for their calculations.</p>
-</div>
-<div class="section" id="sensorfusionosi">
-<h2>SensorFusionOSI<a class="headerlink" href="#sensorfusionosi" title="Permalink to this headline">¶</a></h2>
-<p>The SensorFusionOSI module allows unsorted aggregation of any data provided by sensors. All sampled detected objects can then be broadcasted to connected ADAS.</p>
-<p>It collects all SensorDataSignals and merges them into a single SensorDataSignal.</p>
-</div>
-<div class="section" id="signalprioritizer">
-<h2>SignalPrioritizer<a class="headerlink" href="#signalprioritizer" title="Permalink to this headline">¶</a></h2>
-<p>All channels can only have one source.
-If one modul can have the same input type from multiple sources a prioritizer modul is needed in between.
-All sources then get an output channel to the prioritizer modul and the prioritizer gets an output to the modul, which uses this signal.
-If more than an component sends an active signal during the same timestep, the prioritizer forwards only the signal from the input channel with the highest priority.
-These priorities are set as parameters in the systemconfigblueprint.xml, where the key corresponds the the id of the input channel and the value is the priority (higher value is prioritized).
-In the following example the channel with id 102 has the highest priority (3) and the channel with id 100 has the lowest priority (1).</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><component></span>
- <span class="nt"><id></span>PrioritizerName<span class="nt"></id></span>
- <span class="nt"><schedule></span>
- <span class="nt"><priority></span>150<span class="nt"></priority></span>
- <span class="nt"><offset></span>0<span class="nt"></offset></span>
- <span class="nt"><cycle></span>100<span class="nt"></cycle></span>
- <span class="nt"><response></span>0<span class="nt"></response></span>
- <span class="nt"></schedule></span>
- <span class="nt"><library></span>SignalPrioritizer<span class="nt"></library></span>
- <span class="nt"><parameters></span>
- <span class="nt"><parameter></span>
- <span class="nt"><id></span>100<span class="nt"></id></span>
- <span class="nt"><type></span>int<span class="nt"></type></span>
- <span class="nt"><unit/></span>
- <span class="nt"><value></span>1<span class="nt"></value></span>
- <span class="nt"></parameter></span>
- <span class="nt"><parameter></span>
- <span class="nt"><id></span>101<span class="nt"></id></span>
- <span class="nt"><type></span>int<span class="nt"></type></span>
- <span class="nt"><unit/></span>
- <span class="nt"><value></span>2<span class="nt"></value></span>
- <span class="nt"></parameter></span>
- <span class="nt"><parameter></span>
- <span class="nt"><id></span>102<span class="nt"></id></span>
- <span class="nt"><type></span>int<span class="nt"></type></span>
- <span class="nt"><unit/></span>
- <span class="nt"><value></span>3<span class="nt"></value></span>
- <span class="nt"></parameter></span>
- <span class="nt"></parameters></span>
-<span class="nt"></component></span>
-</pre></div>
-</div>
-<p>One prioritizer modul can only handle signals of the same type and the signal class must be derived from ComponentStateSignal.
-If there is no signal in one timestep, then the signal of the previos timestep is hold.</p>
-<p><strong>Existing prioritizer modules</strong></p>
-<ul class="simple">
-<li><p>PrioritizerAccelerationVehicleComponents</p></li>
-<li><p>PrioritizerSteeringVehicleComponents</p></li>
-<li><p>PrioritizerTurningIndicator</p></li>
-<li><p>PrioritizerLongitudinal</p></li>
-<li><p>PrioritizerSteering</p></li>
-<li><p>PrioritizerDynamics</p></li>
-</ul>
-</div>
-<div class="section" id="componentcontroller">
-<h2>ComponentController<a class="headerlink" href="#componentcontroller" title="Permalink to this headline">¶</a></h2>
-<div class="section" id="overview">
-<h3>Overview<a class="headerlink" href="#overview" title="Permalink to this headline">¶</a></h3>
-<p>The ComponentControoler (CC) is used to configure and handle dependencies between other vehicle components.</p>
-<p>Example use cases could be:</p>
-<ul class="simple">
-<li><p>Cruise control:</p>
-<ul>
-<li><p>driver requesting higher acceleration than cruise control overrides the latter</p></li>
-<li><p>driver braking deactivates cruise control</p></li>
-</ul>
-</li>
-<li><p>Lane keeping assistant:</p>
-<ul>
-<li><p>cannot be activated by driver, if emergency braking is currently active</p></li>
-<li><p>stays active, when emergency braking occours (i. e. by other ADAS)</p></li>
-</ul>
-</li>
-</ul>
-<p>The responsibilies of the CC are:</p>
-<ul class="simple">
-<li><p>Handling of all dependencies between <em>VehicleComponents</em> in case a component wants to activate</p></li>
-<li><p>Make information about driver, <em>TrajectoryFollower</em> and other <em>VehicleComponents</em> available to each other</p></li>
-<li><p>Determine the highest allowed activation state of a component and notify the affected component about this state</p></li>
-</ul>
-<p>To achieve this tasks, each component is assigned a maximum allowed state in each timestep. This state is of type ComponentState,
-which defines <em>Disabled</em>, <em>Armed</em> or <em>Active</em> as allowed states.
-Drivers can be in a state of either <em>Active</em> or <em>Passive</em>.</p>
-</div>
-<div class="section" id="state-handling-inside-vehicle-component">
-<h3>State handling inside Vehicle Component<a class="headerlink" href="#state-handling-inside-vehicle-component" title="Permalink to this headline">¶</a></h3>
-<p>Within a vehicle component, the information flow should be implemented as follows:</p>
-<ol class="arabic simple">
-<li><p>The vehicle component retrieves the information of other components and the current maximum allowed state from the CC.
-Other components include drivers, trajectory followers and all other vehicle components connected to the CC.</p></li>
-<li><p>Based on that information the vehicle component determines its current desired state.</p></li>
-<li><p>The desired state is sent to the CC.</p></li>
-</ol>
-<p>The CC handles all the dependencies between different components and determines the maximum allowed state for each component based
-on the configuration of the CC.</p>
-</div>
-<div class="section" id="used-signals">
-<h3>Used signals<a class="headerlink" href="#used-signals" title="Permalink to this headline">¶</a></h3>
-<p>The CC communicates with the controlled components via framework signals.</p>
-<p>Inputs to the ComponentController:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 18%" />
-<col style="width: 53%" />
-<col style="width: 29%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Source</p></th>
-<th class="head"><p>Contents</p></th>
-<th class="head"><p>Signal</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>TrajectoryFollower</p></td>
-<td><p>Current state</p></td>
-<td><p>ComponentStateSignal</p></td>
-</tr>
-<tr class="row-odd"><td><p>Driver</p></td>
-<td><p>Current state, pedal activity</p></td>
-<td><p>DriverStateSignal</p></td>
-</tr>
-<tr class="row-even"><td><p>VehicleComponent</p></td>
-<td><p>Current state, desired state, generic ADAS parameters</p></td>
-<td><p>VehicleCompToCompCtrlSignal</p></td>
-</tr>
-</tbody>
-</table>
-<p>Output to other components:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 15%" />
-<col style="width: 61%" />
-<col style="width: 24%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Destination</p></th>
-<th class="head"><p>Contents</p></th>
-<th class="head"><p>Signal</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>TrajectoryFollower</p></td>
-<td><p>Current max. reachable state</p></td>
-<td><p>ComponentStateSignal</p></td>
-</tr>
-<tr class="row-odd"><td><p>Driver</p></td>
-<td><p>List of all ADAS with names, stati and types</p></td>
-<td><p>AdasStateSignal</p></td>
-</tr>
-<tr class="row-even"><td><p>VehicleComponent</p></td>
-<td><p>Current max. reachable state, list of all ADAS with names, stati and types</p></td>
-<td><p>CompCtrlToVehicleCompSignal</p></td>
-</tr>
-</tbody>
-</table>
-</div>
-</div>
-</div>
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+<li class="toctree-l2 current"><a class="current reference internal" href="#">Agent Components</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#action-longitudinaldriver">Action_LongitudinalDriver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#action-secondarydriver">Action_SecondaryDriver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#agentupdater">AgentUpdater</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#algorithm-lateral">Algorithm_Lateral</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#algorithm-longitudinal">Algorithm_Longitudinal</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#dynamics-collision">Dynamics_Collision</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#dynamics-regulardriving">Dynamics_RegularDriving</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#limiteraccelerationvehiclecomponents">LimiterAccelerationVehicleComponents</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#openscenarioactions">OpenScenarioActions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#parameters-vehicle">Parameters_Vehicle</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#sensor-driver">Sensor_Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#sensor-osi">Sensor_OSI</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#function">Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#cases">Cases</a></li>
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+ <div class="section" id="agent-components">
+<span id="agentcomponents"></span><h1>Agent Components<a class="headerlink" href="#agent-components" title="Permalink to this headline">¶</a></h1>
+<p>An agent in openPASS is composed of multiple modules, which are connected by corresponding signals.
+As shown in the next figure, the modules can be roughly divided into the groups drivers, vehicle components, algorithms, dynamic modules, and prioritizers.
+Thereby, modules can consist of several submodules, such as sensor (reading from an interface) and action (writing to an interface).</p>
+<div class="figure align-default" id="id1">
+<img alt="../../_images/DynamicsModules.png" src="../../_images/DynamicsModules.png" />
+<p class="caption"><span class="caption-text">Modules for longitudinal and lateral dynamics</span><a class="headerlink" href="#id1" title="Permalink to this image">¶</a></p>
+</div>
+<p>By statistic means, based on corresponding probabilities defined in the <a class="reference internal" href="../../user_guide/configs/profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a>, each individual agent is composed from a superset of all possible (valid) combinations, which is defined by the <a class="reference internal" href="../../user_guide/configs/systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a>.
+This config defines all available framework modules and agent modules and connects them by corresponding channels, which in turn have a specific signal type.</p>
+<p>The next figure gives an exhaustive overview over the current superset:</p>
+<div class="figure align-default" id="id2">
+<span id="component-channel-communication"></span><img alt="../../_images/ComponentsChannelCommunicationDiagram.svg" src="../../_images/ComponentsChannelCommunicationDiagram.svg" /><p class="caption"><span class="caption-text">Components and channel communication</span><a class="headerlink" href="#id2" title="Permalink to this image">¶</a></p>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/9aabdb34246c59e548d181762c2e97b2/ComponentsChannelCommunicationDiagram.svg"><code class="xref download docutils literal notranslate"><span class="pre">./images/ComponentsChannelCommunicationDiagram.svg</span></code></a></p>
+<p>Modules that can be parametrized by the user are explained in the <a class="reference internal" href="../../user_guide/sim_user_guide/20_components.html#simuserguide-components"><span class="std std-ref">Simulation User Guide</span></a>.
+Therefor the following section only contains the components not listed in the user guide.</p>
+<div class="section" id="action-longitudinaldriver">
+<h2>Action_LongitudinalDriver<a class="headerlink" href="#action-longitudinaldriver" title="Permalink to this headline">¶</a></h2>
+<p>Updates the agents pedal positions and gear.
+The input for this module is prepared by the AlgorithmLongitudinal Module.</p>
+</div>
+<div class="section" id="action-secondarydriver">
+<h2>Action_SecondaryDriver<a class="headerlink" href="#action-secondarydriver" title="Permalink to this headline">¶</a></h2>
+<p>Updates the agents braking light, indicator, horn and all light switches (headlight, high beam, flasher).
+The input for this module is prepared by the driver module.</p>
+</div>
+<div class="section" id="agentupdater">
+<h2>AgentUpdater<a class="headerlink" href="#agentupdater" title="Permalink to this headline">¶</a></h2>
+<p>The AgentUpdater executes all Set-Methods of the agent dynamics after the DynamicsPrioritizer. This includes position, velocity, acceleration and rotation.</p>
+</div>
+<div class="section" id="algorithm-lateral">
+<h2>Algorithm_Lateral<a class="headerlink" href="#algorithm-lateral" title="Permalink to this headline">¶</a></h2>
+<p>This module converts the lateral input of the driver module into a steering wheel angle.</p>
+</div>
+<div class="section" id="algorithm-longitudinal">
+<h2>Algorithm_Longitudinal<a class="headerlink" href="#algorithm-longitudinal" title="Permalink to this headline">¶</a></h2>
+<p>This module converts the acceleration input of the driver module into pedal positions and gear.</p>
+</div>
+<div class="section" id="dynamics-collision">
+<h2>Dynamics_Collision<a class="headerlink" href="#dynamics-collision" title="Permalink to this headline">¶</a></h2>
+<p>If the number of collision partners of the agent is bigger than in the previous time step, the DynamicsCollision module calculates the collision.
+Currently the collision is implemented fully inelastic, i.e. all agents will have the same velocity after the collision, while the momentum is conserved.
+After the collision the agents slow down with a fixed deceleration until fully stopped.</p>
+</div>
+<div class="section" id="dynamics-regulardriving">
+<h2>Dynamics_RegularDriving<a class="headerlink" href="#dynamics-regulardriving" title="Permalink to this headline">¶</a></h2>
+<p>The module takes care that the motion of the agent fit to the physical limitations, such as friction or maximum possible acceleration based on the current gear.
+This module uses both the world friction and the vehicle model parameter friction.
+Thereby it calculates the dynamics of the agents in every time step.
+The currently covered dynamics are <em>Acceleration</em>, <em>Velocity</em>, and consequently <em>Position</em>, <em>Yaw angle</em> and <em>Yaw rate</em>.
+The input for this module is the steering wheel angle and the new acceleration of the vehicle.</p>
+</div>
+<div class="section" id="limiteraccelerationvehiclecomponents">
+<h2>LimiterAccelerationVehicleComponents<a class="headerlink" href="#limiteraccelerationvehiclecomponents" title="Permalink to this headline">¶</a></h2>
+<p>This module limits the AccelerationSignal from the PrioritizerAccelerationVehicleComponents to the constraints given by the vehicle. The DynamicsTrajectoryFollower can then use this signal to calculate a trajectory.</p>
+<p>The limit is calculated by <span class="math">a_{\text{lim}} = \frac {F_{\text{wheel}} - F_{\text{roll}} - F_{\text{air}}} {m_{\text{veh}}}</span>, where the symbols meanings are:</p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Symbol</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><span class="math">a_{\text{lim}}</span></p></td>
+<td><p>Resulting acceleration limit [m/s²]</p></td>
+</tr>
+<tr class="row-odd"><td><p><span class="math">F_{\text{wheel}}</span></p></td>
+<td><p>Force at wheel (provided by drivetrain) [N]</p></td>
+</tr>
+<tr class="row-even"><td><p><span class="math">F_{\text{roll}}</span></p></td>
+<td><p>Force resulting from rolling resistance [N]</p></td>
+</tr>
+<tr class="row-odd"><td><p><span class="math">F_{\text{air}}</span></p></td>
+<td><p>Force resulting from air drag [N]</p></td>
+</tr>
+<tr class="row-even"><td><p><span class="math">m_{\text{veh}}</span></p></td>
+<td><p>Mass of the vehicle [kg]</p></td>
+</tr>
+</tbody>
+</table>
+<p>The components are calculated as follows:</p>
+<p><strong>Driving force</strong></p>
+<p><span class="math">F_{\text{wheel}} = \frac {T_{\text{engine}} \cdot r_{\text{axle}}} {r_{\text{wheel}}}</span></p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 21%" />
+<col style="width: 79%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Symbol</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><span class="math">T_{\text{engine}}</span></p></td>
+<td><p>Resulting torque from drivetrain at current velocity (assuming best gearing selected) [Nm]</p></td>
+</tr>
+<tr class="row-odd"><td><p><span class="math">r_{\text{axle}}</span></p></td>
+<td><p>Axle transmission ratio [1]</p></td>
+</tr>
+<tr class="row-even"><td><p><span class="math">r_{\text{wheel}}</span></p></td>
+<td><p>Static radius of the wheels [m]</p></td>
+</tr>
+</tbody>
+</table>
+<p>The engine torque <span class="math">T_{\text{engine}}</span> is calculated by a simple model, where the torque scales proportional with the current engine speed between 1350 and 5000 rpm, up to maximum engine torque.
+From minimum engine speed up to 1350 rpm the torque scales proportional with the engine speed up to half the maximum torque.
+From 5000 rpm up to maximum engine speed, the torque scales with 5000 / maxEngineSpeed, up to maximum torque.</p>
+<p><strong>Rolling resistance</strong></p>
+<p><span class="math">F_{\text{roll}} = m_{\text{veh}} \cdot c_{\text{fric}} \cdot g</span></p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 21%" />
+<col style="width: 79%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Symbol</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><span class="math">m_{\text{veh}}</span></p></td>
+<td><p>Mass of the vehicle [kg]</p></td>
+</tr>
+<tr class="row-odd"><td><p><span class="math">c_{\text{fric}}</span></p></td>
+<td><p>Rolling friction coefficient (constant 0.015) [1]</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Air drag</strong></p>
+<p><span class="math">F_{\text{air}} = \frac {\rho_{\text{air}}} {2} \cdot A_{\text{front}} \cdot c_w \cdot v^2</span></p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 21%" />
+<col style="width: 79%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Symbol</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><span class="math">\rho_{\text{air}}</span></p></td>
+<td><p>Density of air [kg/m³]</p></td>
+</tr>
+<tr class="row-odd"><td><p><span class="math">A_{\text{front}}</span></p></td>
+<td><p>Vehicle front surface area [m²]</p></td>
+</tr>
+<tr class="row-even"><td><p><span class="math">c_w</span></p></td>
+<td><p>Drag coefficient [1]</p></td>
+</tr>
+<tr class="row-odd"><td><p><span class="math">v</span></p></td>
+<td><p>Vehicle’s current velocity [m/s]</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="openscenarioactions">
+<h2>OpenScenarioActions<a class="headerlink" href="#openscenarioactions" title="Permalink to this headline">¶</a></h2>
+<p>As defined by openSCENARIO, OpenScenarioActions is the relaying module for:</p>
+<ul class="simple">
+<li><p>Trajectory-actions</p></li>
+<li><p>LaneChange-actions</p></li>
+<li><p>UserDefined-actions.</p></li>
+</ul>
+<p>If a</p>
+<ul class="simple">
+<li><p>TrajectoryManipulator</p></li>
+<li><p>LaneChangeManipulator</p></li>
+</ul>
+<p>or a user defined manipulator</p>
+<p>raises such an event for the specified agent, the module forwards it as signal to all interested module of the corresponding agent. The modules can than react on the signals content without time delay.</p>
+</div>
+<div class="section" id="parameters-vehicle">
+<h2>Parameters_Vehicle<a class="headerlink" href="#parameters-vehicle" title="Permalink to this headline">¶</a></h2>
+<p>The ParametersVehicle module forwards the VehicleModelParameters to all other modules that need them via the ParametersVehicleSignal</p>
+</div>
+<div class="section" id="sensor-driver">
+<h2>Sensor_Driver<a class="headerlink" href="#sensor-driver" title="Permalink to this headline">¶</a></h2>
+<p>The SensorDriver performs queries on the AgentInterface to gather information about the own agent and its surroundings. These are forwarded to the driver modules and the Algorithm modules, which use them for their calculations.</p>
+</div>
+<div class="section" id="sensor-osi">
+<h2>Sensor_OSI<a class="headerlink" href="#sensor-osi" title="Permalink to this headline">¶</a></h2>
+<p>This module is a representation of various sensors and uses OSI for its input and output.
+Currently it only has one type of sensor (SensorGeometric2D) which detects all objects in sector with specified range and opening angle.
+The input of the sensor is a OSI SensorView generated by the OSI World and its output is a OSI SensorData structure.</p>
+<p>For generation of the SensorView, a SensorViewConfiguration has to be provided by the sensor to the OSI World. See image for a visualization of the
+dataflow.</p>
+<div class="figure align-default" id="id3">
+<img alt="../../_images/SensorView_Dataflow.svg" src="../../_images/SensorView_Dataflow.svg" /><p class="caption"><span class="caption-text">OSI SensorView dataflow</span><a class="headerlink" href="#id3" title="Permalink to this image">¶</a></p>
+</div>
+<p>From OSI development perspective, the OSI World would have to send back a SensorViewConfiguration to the sensor, with the contents describing the
+actual configuration of the SensorView (since the World is maybe notable to provide the requested information).
+As we have full control over the simulation environment, this back-channel is skipped and SensorView according to the sensor’S SensorView configuration
+will always be provided.</p>
+<p>To test whether an object is inside our sector we check
+1. if it is inside the circle around the sensor with radius the detection range and
+2. if it intersects a suitable polygon</p>
+<p>Depending on the opening-angle the polygon in 2) has either four (angle < 180°) or five corners (angle >= 180°).</p>
+<div class="figure align-default" id="id4">
+<img alt="../../_images/Sensor2D_kite_polygon.png" src="../../_images/Sensor2D_kite_polygon.png" />
+<p class="caption"><span class="caption-text">four-corner kite polygon for angle lower than 180°</span><a class="headerlink" href="#id4" title="Permalink to this image">¶</a></p>
+</div>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 14%" />
+<col style="width: 33%" />
+<col style="width: 35%" />
+<col style="width: 18%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Object</p></th>
+<th class="head"><p>intersects circle</p></th>
+<th class="head"><p>intersects polygon</p></th>
+<th class="head"><p>detected</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>A</p></td>
+<td><p>true</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-odd"><td><p>B</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+</tr>
+<tr class="row-even"><td><p>C</p></td>
+<td><p>false</p></td>
+<td><p>true</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-odd"><td><p>D</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-even"><td><p>E</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+</tr>
+</tbody>
+</table>
+<div class="figure align-default" id="id5">
+<img alt="../../_images/Sensor2D_five_corner_polygon.png" src="../../_images/Sensor2D_five_corner_polygon.png" />
+<p class="caption"><span class="caption-text">five-corner polygon for angle greater or equal 180° and greater 360°</span><a class="headerlink" href="#id5" title="Permalink to this image">¶</a></p>
+</div>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 14%" />
+<col style="width: 33%" />
+<col style="width: 35%" />
+<col style="width: 18%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Object</p></th>
+<th class="head"><p>intersects circle</p></th>
+<th class="head"><p>intersects polygon</p></th>
+<th class="head"><p>detected</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>A</p></td>
+<td><p>false</p></td>
+<td><p>true</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-odd"><td><p>B</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+</tr>
+<tr class="row-even"><td><p>C</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+<td><p>true</p></td>
+</tr>
+<tr class="row-odd"><td><p>D</p></td>
+<td><p>true</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+</tr>
+<tr class="row-even"><td><p>E</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+<td><p>false</p></td>
+</tr>
+</tbody>
+</table>
+<p>For convex BBoxes the above will give correct detection results.</p>
+<p>Both polygons are constructed from corner-points consisting out of the intersection between the opening-angle boundaries at maximum detection range and their corresponding tangents.</p>
+<div class="section" id="function">
+<h3>Function<a class="headerlink" href="#function" title="Permalink to this headline">¶</a></h3>
+<ol class="arabic simple">
+<li><p>Construct the polygon based on the opening-angle</p></li>
+<li><p>Check if detection-field (polygon) intersects with any BBox (object-detection)</p></li>
+<li><p>Calculate the distance between sensor and object</p></li>
+<li><p>if (dist <= range && isIntersecting) -> object is in circular sector (object validation)</p></li>
+</ol>
+</div>
+<div class="section" id="cases">
+<h3>Cases<a class="headerlink" href="#cases" title="Permalink to this headline">¶</a></h3>
+<ul class="simple">
+<li><p>For angles < 1.0 * pi a four-corner (kite) polygon can be constructed out of two radiuses and two tangents.</p></li>
+<li><p>For angles > = 1.0 * pi and < 2.0 * pi a five-corner polygon can be constructed of two radiuses an three tangents.</p></li>
+<li><p>For opening-angle of exactly 2.0 * pi the distance information suffices. No polygon is needed.</p></li>
+</ul>
+</div>
+<div class="section" id="visual-obstruction">
+<h3>Visual Obstruction<a class="headerlink" href="#visual-obstruction" title="Permalink to this headline">¶</a></h3>
+<p>Objects in front of others block the sensors line of sight. If an object is large enough it might visually obstruct others.
+To check if one or multiple objects in combination “shadow” other objects the EnableVisualObstruction - flag can be set.
+Also the minimum required percentage of the visible area of an object to be detected can be specified.
+The implemented algorithm uses the concept of shadow-casting.</p>
+<p><strong>Basic</strong></p>
+<div class="figure align-default" id="id6">
+<img alt="../../_images/ShadowCasting.svg" src="../../_images/ShadowCasting.svg" /><p class="caption"><span class="caption-text">Example of shadow-casting</span><a class="headerlink" href="#id6" title="Permalink to this image">¶</a></p>
+</div>
+<p>The sensor can be pictured as a light source.
+Every object in the detection field of the sensor will therefore cast a shadow and reduce the overall detection area behind it.
+If an object is shadowed too much, it is removed from the list of detected objects.
+After all shadows are removed, only the “real” detection field polygon (yellow area) remains.
+Objects in green and blue are detected.
+The red object is completely covered by shadows and therefore not detected.</p>
+<p><strong>Step by Step</strong></p>
+<p>Shadow casting is calculated as follows (see figure below):
+1. Approximate detection field as circular sector (bright area).
+2. Calculate the casted shadow of each object inside the detection field.
+3. Remove the casted shadow from the detection field.
+4. Check for each object if the remaining area is inside the remaining polygon.
+5. Removed objects if the relation <cite>covered object area/total object area</cite> is smaller than a parameterizable threshold.</p>
+<p><strong>Details</strong></p>
+<p>The approximation of the detection range is deliberately calculated along its edge and not by means of a tangential approximation.
+The areal error along the edge is regarded as negligible w.r.t to the sizes of objects and commonly used detection ranges.</p>
+<div class="figure align-default" id="id7">
+<img alt="../../_images/shadowing1.png" src="../../_images/shadowing1.png" />
+<p class="caption"><span class="caption-text">Shadow casting detail 1</span><a class="headerlink" href="#id7" title="Permalink to this image">¶</a></p>
+</div>
+<p>For the calculation of the shadowing polygon, the confining vectors for the object of interest are calculated (see detail 1).</p>
+<div class="figure align-default" id="id8">
+<img alt="../../_images/shadowing2.png" src="../../_images/shadowing2.png" />
+<p class="caption"><span class="caption-text">Shadow casting detail 2</span><a class="headerlink" href="#id8" title="Permalink to this image">¶</a></p>
+</div>
+<p>Scaling the length of the vectors w.r.t. the detection range would only to reach the boundary and not suffice, as the resulting polygon is too small (red area in detail 2 not covered).</p>
+<div class="figure align-default" id="id9">
+<img alt="../../_images/shadowing3.png" src="../../_images/shadowing3.png" />
+<p class="caption"><span class="caption-text">Shadow casting detail 3</span><a class="headerlink" href="#id9" title="Permalink to this image">¶</a></p>
+</div>
+<p>A larger scale factor is necessary, but needs to be calculated dynamically, as a too small factor might not suffice for very close objects and a very large factor could lead to numerical issues.
+Hence, the scale is calculated dynamically as depicted in detail 3, by comparing two isosceles triangles, laying in between the two vectors.
+This is only an approximation of the true triangles, but an upper bound, which allows faster processing.
+The final scale resolves to <cite>detection_radius / projected_height</cite>, where the projected height is taken from shorter vector.</p>
+<div class="figure align-default" id="id10">
+<img alt="../../_images/shadowing4.png" src="../../_images/shadowing4.png" />
+<p class="caption"><span class="caption-text">Shadow casting detail 4</span><a class="headerlink" href="#id10" title="Permalink to this image">¶</a></p>
+</div>
+<p>As shown in detail 4, the scale is just large enough to include the whole detection range, preventing potential numerical issues.
+This only holds as long as the detection range is approximated as described above.</p>
+</div>
+</div>
+<div class="section" id="sensorfusionosi">
+<h2>SensorFusionOSI<a class="headerlink" href="#sensorfusionosi" title="Permalink to this headline">¶</a></h2>
+<p>The SensorFusionOSI module allows unsorted aggregation of any data provided by sensors. All sampled detected objects can then be broadcasted to connected ADAS.</p>
+<p>It collects all SensorDataSignals and merges them into a single SensorDataSignal.</p>
+</div>
+<div class="section" id="signalprioritizer">
+<span id="agentcomponents-signalprioritizer"></span><h2>SignalPrioritizer<a class="headerlink" href="#signalprioritizer" title="Permalink to this headline">¶</a></h2>
+<p>All channels can only have one source.
+If one module can have the same input type from multiple sources a prioritizer module is needed in between.
+All sources then get an output channel to the prioritizer module and the prioritizer gets an output to the module, which uses this signal.
+If more than an component sends an active signal during the same timestep, the prioritizer forwards only the signal from the input channel with the highest priority.
+These priorities are set as parameters in the systemconfigblueprint.xml, where the key corresponds the the id of the input channel and the value is the priority (higher value is prioritized).
+In the following example the channel with id 102 has the highest priority (3) and the channel with id 100 has the lowest priority (1).</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><component></span>
+ <span class="nt"><id></span>PrioritizerName<span class="nt"></id></span>
+ <span class="nt"><schedule></span>
+ <span class="nt"><priority></span>150<span class="nt"></priority></span>
+ <span class="nt"><offset></span>0<span class="nt"></offset></span>
+ <span class="nt"><cycle></span>100<span class="nt"></cycle></span>
+ <span class="nt"><response></span>0<span class="nt"></response></span>
+ <span class="nt"></schedule></span>
+ <span class="nt"><library></span>SignalPrioritizer<span class="nt"></library></span>
+ <span class="nt"><parameters></span>
+ <span class="nt"><parameter></span>
+ <span class="nt"><id></span>100<span class="nt"></id></span>
+ <span class="nt"><type></span>int<span class="nt"></type></span>
+ <span class="nt"><unit/></span>
+ <span class="nt"><value></span>1<span class="nt"></value></span>
+ <span class="nt"></parameter></span>
+ <span class="nt"><parameter></span>
+ <span class="nt"><id></span>101<span class="nt"></id></span>
+ <span class="nt"><type></span>int<span class="nt"></type></span>
+ <span class="nt"><unit/></span>
+ <span class="nt"><value></span>2<span class="nt"></value></span>
+ <span class="nt"></parameter></span>
+ <span class="nt"><parameter></span>
+ <span class="nt"><id></span>102<span class="nt"></id></span>
+ <span class="nt"><type></span>int<span class="nt"></type></span>
+ <span class="nt"><unit/></span>
+ <span class="nt"><value></span>3<span class="nt"></value></span>
+ <span class="nt"></parameter></span>
+ <span class="nt"></parameters></span>
+<span class="nt"></component></span>
+</pre></div>
+</div>
+<p>One prioritizer module can only handle signals of the same type and the signal class must be derived from ComponentStateSignal.
+If there is no signal in one time step, then the signal of the previous time step is hold.</p>
+<p><strong>Existing prioritizer modules</strong></p>
+<ul class="simple">
+<li><p>PrioritizerAccelerationVehicleComponents</p></li>
+<li><p>PrioritizerSteeringVehicleComponents</p></li>
+<li><p>PrioritizerTurningIndicator</p></li>
+<li><p>PrioritizerLongitudinal</p></li>
+<li><p>PrioritizerSteering</p></li>
+<li><p>PrioritizerDynamics</p></li>
+</ul>
+</div>
+<div class="section" id="componentcontroller">
+<h2>ComponentController<a class="headerlink" href="#componentcontroller" title="Permalink to this headline">¶</a></h2>
+<div class="section" id="overview">
+<h3>Overview<a class="headerlink" href="#overview" title="Permalink to this headline">¶</a></h3>
+<p>The ComponentController (CC) is used to configure and handle dependencies between other vehicle components.</p>
+<p>Example use cases could be:</p>
+<ul class="simple">
+<li><p>Cruise control:</p>
+<ul>
+<li><p>driver requesting higher acceleration than cruise control overrides the latter</p></li>
+<li><p>driver braking deactivates cruise control</p></li>
+</ul>
+</li>
+<li><p>Lane keeping assistant:</p>
+<ul>
+<li><p>cannot be activated by driver, if emergency braking is currently active</p></li>
+<li><p>stays active, when emergency braking occurs (i. e. by other ADAS)</p></li>
+</ul>
+</li>
+</ul>
+<p>The responsibilies of the CC are:</p>
+<ul class="simple">
+<li><p>Handling of all dependencies between <em>VehicleComponents</em> in case a component wants to activate</p></li>
+<li><p>Make information about driver, <em>TrajectoryFollower</em> and other <em>VehicleComponents</em> available to each other</p></li>
+<li><p>Determine the highest allowed activation state of a component and notify the affected component about this state</p></li>
+</ul>
+<p>To achieve this tasks, each component is assigned a maximum allowed state in each time step. This state is of type ComponentState,
+which defines <em>Disabled</em>, <em>Armed</em> or <em>Active</em> as allowed states.
+Drivers can be in a state of either <em>Active</em> or <em>Passive</em>.</p>
+</div>
+<div class="section" id="state-handling-inside-vehicle-component">
+<h3>State handling inside Vehicle Component<a class="headerlink" href="#state-handling-inside-vehicle-component" title="Permalink to this headline">¶</a></h3>
+<p>Within a vehicle component, the information flow should be implemented as follows:</p>
+<ol class="arabic simple">
+<li><p>The vehicle component retrieves the information of other components and the current maximum allowed state from the CC.
+Other components include drivers, trajectory followers and all other vehicle components connected to the CC.</p></li>
+<li><p>Based on that information the vehicle component determines its current desired state.</p></li>
+<li><p>The desired state is sent to the CC.</p></li>
+</ol>
+<p>The CC handles all the dependencies between different components and determines the maximum allowed state for each component based
+on the configuration of the CC.</p>
+</div>
+<div class="section" id="used-signals">
+<h3>Used signals<a class="headerlink" href="#used-signals" title="Permalink to this headline">¶</a></h3>
+<p>The CC communicates with the controlled components via framework signals.</p>
+<p>Inputs to the ComponentController:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 18%" />
+<col style="width: 53%" />
+<col style="width: 29%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Source</p></th>
+<th class="head"><p>Contents</p></th>
+<th class="head"><p>Signal</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>TrajectoryFollower</p></td>
+<td><p>Current state</p></td>
+<td><p>ComponentStateSignal</p></td>
+</tr>
+<tr class="row-odd"><td><p>Driver</p></td>
+<td><p>Current state, pedal activity</p></td>
+<td><p>DriverStateSignal</p></td>
+</tr>
+<tr class="row-even"><td><p>VehicleComponent</p></td>
+<td><p>Current state, desired state, generic ADAS parameters</p></td>
+<td><p>VehicleCompToCompCtrlSignal</p></td>
+</tr>
+</tbody>
+</table>
+<p>Output to other components:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 15%" />
+<col style="width: 61%" />
+<col style="width: 24%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Destination</p></th>
+<th class="head"><p>Contents</p></th>
+<th class="head"><p>Signal</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>TrajectoryFollower</p></td>
+<td><p>Current max. reachable state</p></td>
+<td><p>ComponentStateSignal</p></td>
+</tr>
+<tr class="row-odd"><td><p>Driver</p></td>
+<td><p>List of all ADAS with names, stati and types</p></td>
+<td><p>AdasStateSignal</p></td>
+</tr>
+<tr class="row-even"><td><p>VehicleComponent</p></td>
+<td><p>Current max. reachable state, list of all ADAS with names, stati and types</p></td>
+<td><p>CompCtrlToVehicleCompSignal</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</div>
+</div>
+
+
+ </div>
+
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+<li class="toctree-l2"><a class="reference internal" href="agent_components.html">Agent Components</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">EventDetector</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#collisiondetector">CollisionDetector</a></li>
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+ <div class="section" id="eventdetector">
+<span id="id1"></span><h1>EventDetector<a class="headerlink" href="#eventdetector" title="Permalink to this headline">¶</a></h1>
+<p>EventDetectors are executed at the beginning of each timestep.
+A detector uses its access to the world and the framework to detect specific events.
+After detection, the event is usually forwarded to the EventNetwork.</p>
+<p>There are multiple EventDetectors available, all of them sharing a common interface.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Each instance of an EventDetector can have its own cycle time.</p>
+</div>
+<div class="section" id="collisiondetector">
+<span id="eventdetector-collisiondetector"></span><h2>CollisionDetector<a class="headerlink" href="#collisiondetector" title="Permalink to this headline">¶</a></h2>
+<p>The CollisionDetector checks whether a collision has occurred.
+Moving and stationary objects are taken into account.
+Objects are considered as collided, if their two-dimensional bounding boxes intersect.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The calculation of the bounding box itself considers a potential inclination by the roll angle of an object (projection onto the xy-plane).</p>
+</div>
+<p>In case of a collision, a CollisionEvent containing the participating object Ids is created.
+This type of event is picked up by the CollisionManipulator, which updates the state of the collided objects accordingly.</p>
+</div>
+</div>
+
+
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+
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- <div class="section" id="slave">
-<span id="id1"></span><h1>Slave<a class="headerlink" href="#slave" title="Permalink to this headline">¶</a></h1>
-<div class="section" id="command-line-arguments">
-<span id="slave-commandlinearguments"></span><h2>Command Line Arguments<a class="headerlink" href="#command-line-arguments" title="Permalink to this headline">¶</a></h2>
-<p>The slave can be configured by applying the following command line arguments.
-Unspecified arguments will be defaulted (<em>default values in []</em>).</p>
-<p>The slave supports the following arguments:</p>
-<ul class="simple">
-<li><p><em>–logLevel</em> [0] :
-Logging level between 0 (minimum) and 5 (maximum - debug core)</p></li>
-<li><p><em>–logFile</em> [OpenPassSlave.log]* :
-Name of the log file</p></li>
-<li><p><em>–lib</em> [lib] :
-Path of the libraries (relative or absolute)</p></li>
-<li><p><em>–configs</em> [configs] :
-Path for writing outputs (relative or absolute)</p></li>
-<li><p><em>–results</em> [results] :
-Path for writing outputs (relative or absolute)</p></li>
-</ul>
-</div>
-<div class="section" id="scheduler">
-<span id="slave-scheduler"></span><h2>Scheduler<a class="headerlink" href="#scheduler" title="Permalink to this headline">¶</a></h2>
-<p>The Scheduler handles the sequence of agent based and common tasks before, during and after simulation.</p>
-<div class="section" id="executing-phases">
-<h3>Executing phases<a class="headerlink" href="#executing-phases" title="Permalink to this headline">¶</a></h3>
-<p>Each simulation run splits up into 3 phases: Bootstrap tasks, Stepping and Finalize tasks.</p>
-<ol class="arabic simple">
-<li><p>Initial task are grouped within the bootstrap tasks and are executed first and only once.
-This includes updating the Observation modules and triggering all PreRun Spawners.</p></li>
-<li><p>After this Spawning, PreAgent, NonRecurring, Recurring and Syncronize Tasks are processed for each timestep.
-First all Runtime Spawners are triggered.
-Whenever a new agent is spawned, all its components are parsed to <em>Trigger</em> and <em>Update</em> tasks, grouped and sorted by execution time as non-recurring and recurring tasks.
-Next all PreAgents task are executed, which includes publishing the world state to the DataStore in triggering all EventDetectors and Manipulators
-Non-recurring tasks are executed just once and will be deleted afterwards (<em>init</em> flag in ComponentRepository).
-Right after execution of all agent-based tasks, the Syncronize phase synchronizes all changes to the world as world state for the next timestep.</p></li>
-<li><p>The last phase is finalizing task, executed when an end condition is reached, such as end of simulation duration. Within this phase all EventDetectors and Manipulators are triggered and the Observation modules are updated one last time.</p></li>
-</ol>
-</div>
-<div class="section" id="task-type-description">
-<h3>Task type description<a class="headerlink" href="#task-type-description" title="Permalink to this headline">¶</a></h3>
-<p>The scheduler handles 8 different task types:</p>
-<ul class="simple">
-<li><p><strong>Spawning</strong> - triggers agent spawning</p></li>
-<li><p><strong>EventDetector</strong> - execute event detector</p></li>
-<li><p><strong>Manipulator</strong> - execute manipulator</p></li>
-<li><p><strong>Observation</strong> - update observation modules</p></li>
-<li><p><strong>Trigger</strong> - execute trigger function of connected component</p></li>
-<li><p><strong>Update</strong> - execute update output of connected component and resulting input</p></li>
-<li><p><strong>SyncWorld</strong> - update world</p></li>
-</ul>
-<p>The following table gives an overview to all phases.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 11%" />
-<col style="width: 6%" />
-<col style="width: 34%" />
-<col style="width: 50%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Phase</p></th>
-<th class="head"><p>Changeable</p></th>
-<th class="head"><p>Task types</p></th>
-<th class="head"><p>Notes</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Bootstrap</p></td>
-<td><p>no</p></td>
-<td><p>Spawning (PreRun), Observation</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>Spawning</p></td>
-<td><p>no</p></td>
-<td><p>Spawning (Runtime), Observation</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>PreAgent</p></td>
-<td><p>no</p></td>
-<td><p>SyncWorld (publishing), EventDetector, Manipulator</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>Non recurring</p></td>
-<td><p>yes</p></td>
-<td><p>Trigger, Update</p></td>
-<td><p>Only components defined as “Init”</p></td>
-</tr>
-<tr class="row-even"><td><p>Recurring</p></td>
-<td><p>yes</p></td>
-<td><p>Trigger, Update</p></td>
-<td><p>Non Init components</p></td>
-</tr>
-<tr class="row-odd"><td><p>Syncronize</p></td>
-<td><p>no</p></td>
-<td><p>SyncWorld</p></td>
-<td><p>Update the state of the agents and the virtual world (e.g. due to agent movements).</p></td>
-</tr>
-<tr class="row-even"><td><p>Finalize</p></td>
-<td><p>no</p></td>
-<td><p>EventDetector, Manipulator, Observation</p></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-</div>
-<div class="section" id="task-priorities">
-<h3>Task priorities<a class="headerlink" href="#task-priorities" title="Permalink to this headline">¶</a></h3>
-<p>The order of the tasks within one phase depends on component priority and task type.
-All tasks for a given timestamp are ordered by the SchedulerTasks priority, and divided into the aformentioned phases.</p>
-<p>The following table shows the priorities for the non-component task types:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 13%" />
-<col style="width: 7%" />
-<col style="width: 81%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Task type</p></th>
-<th class="head"><p>Priority</p></th>
-<th class="head"><p>Notes</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Spawning</p></td>
-<td><p>4</p></td>
-<td><p>Highest priority, nothing can happen before any agent is instantiated.</p></td>
-</tr>
-<tr class="row-odd"><td><p>EventDetector</p></td>
-<td><p>3</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>Manipulator</p></td>
-<td><p>2</p></td>
-<td><p>The manipulator task uses the event detector tasks as input. Therefore it is called afterwards.</p></td>
-</tr>
-<tr class="row-odd"><td><p>SyncGlobalData</p></td>
-<td><p>1</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>Observation</p></td>
-<td><p>0</p></td>
-<td><p>Observation tasks have to be execute at the end.</p></td>
-</tr>
-</tbody>
-</table>
-<p>The priority of trigger and update tasks depend on the priority within the SystemConfig.
-They are independent of non-component priorities.
-Since trigger tasks prepare output signals, output tasks are right called after the corresponding trigger tasks.</p>
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+ <div class="section" id="simulation">
+<span id="id1"></span><h1>Simulation<a class="headerlink" href="#simulation" title="Permalink to this headline">¶</a></h1>
+<div class="section" id="command-line-arguments">
+<span id="simulation-commandlinearguments"></span><h2>Command Line Arguments<a class="headerlink" href="#command-line-arguments" title="Permalink to this headline">¶</a></h2>
+<p>The simulation can be configured by applying the following command line arguments.
+Unspecified arguments will be defaulted (<em>default values in []</em>).</p>
+<p>The simulation supports the following arguments:</p>
+<ul class="simple">
+<li><p><em>–logLevel</em> [0] :
+Logging level between 0 (minimum) and 5 (maximum - debug core)</p></li>
+<li><p><em>–logFile</em> [opSimulation.log]* :
+Name of the log file</p></li>
+<li><p><em>–lib</em> [modules] :
+Path of the libraries (relative or absolute)</p></li>
+<li><p><em>–configs</em> [configs] :
+Path for writing outputs (relative or absolute)</p></li>
+<li><p><em>–results</em> [results] :
+Path for writing outputs (relative or absolute)</p></li>
+</ul>
+</div>
+<div class="section" id="scheduler">
+<span id="simulation-scheduler"></span><h2>Scheduler<a class="headerlink" href="#scheduler" title="Permalink to this headline">¶</a></h2>
+<p>The Scheduler handles the sequence of agent based and common tasks before, during and after simulation.</p>
+<div class="section" id="executing-phases">
+<h3>Executing phases<a class="headerlink" href="#executing-phases" title="Permalink to this headline">¶</a></h3>
+<p>Each simulation run splits up into 3 phases: Bootstrap tasks, Stepping and Finalize tasks.</p>
+<ol class="arabic simple">
+<li><p>Initial task are grouped within the bootstrap tasks and are executed first and only once.
+This includes updating the Observation modules and triggering all PreRun Spawners.</p></li>
+<li><p>After this Spawning, PreAgent, NonRecurring, Recurring and Syncronize Tasks are processed for each timestep.
+First all Runtime Spawners are triggered.
+Whenever a new agent is spawned, all its components are parsed to <em>Trigger</em> and <em>Update</em> tasks, grouped and sorted by execution time as non-recurring and recurring tasks.
+Next all PreAgents task are executed, which includes publishing the world state to the DataBuffer in triggering all EventDetectors and Manipulators
+Non-recurring tasks are executed just once and will be deleted afterwards (<em>init</em> flag in ComponentRepository).
+Right after execution of all agent-based tasks, the Syncronize phase synchronizes all changes to the world as world state for the next timestep.</p></li>
+<li><p>The last phase is finalizing task, executed when an end condition is reached, such as end of simulation duration. Within this phase all EventDetectors and Manipulators are triggered and the Observation modules are updated one last time.</p></li>
+</ol>
+</div>
+<div class="section" id="task-type-description">
+<h3>Task type description<a class="headerlink" href="#task-type-description" title="Permalink to this headline">¶</a></h3>
+<p>The scheduler handles 8 different task types:</p>
+<ul class="simple">
+<li><p><strong>Spawning</strong> - triggers agent spawning</p></li>
+<li><p><strong>EventDetector</strong> - execute event detector</p></li>
+<li><p><strong>Manipulator</strong> - execute manipulator</p></li>
+<li><p><strong>Observation</strong> - update observation modules</p></li>
+<li><p><strong>Trigger</strong> - execute trigger function of connected component</p></li>
+<li><p><strong>Update</strong> - execute update output of connected component and resulting input</p></li>
+<li><p><strong>SyncWorld</strong> - update world</p></li>
+</ul>
+<p>The following table gives an overview to all phases.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 11%" />
+<col style="width: 6%" />
+<col style="width: 34%" />
+<col style="width: 50%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Phase</p></th>
+<th class="head"><p>Changeable</p></th>
+<th class="head"><p>Task types</p></th>
+<th class="head"><p>Notes</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Bootstrap</p></td>
+<td><p>no</p></td>
+<td><p>Spawning (PreRun), Observation</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Spawning</p></td>
+<td><p>no</p></td>
+<td><p>Spawning (Runtime), Observation</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>PreAgent</p></td>
+<td><p>no</p></td>
+<td><p>SyncWorld (publishing), EventDetector, Manipulator</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Non recurring</p></td>
+<td><p>yes</p></td>
+<td><p>Trigger, Update</p></td>
+<td><p>Only components defined as “Init”</p></td>
+</tr>
+<tr class="row-even"><td><p>Recurring</p></td>
+<td><p>yes</p></td>
+<td><p>Trigger, Update</p></td>
+<td><p>Non Init components</p></td>
+</tr>
+<tr class="row-odd"><td><p>Syncronize</p></td>
+<td><p>no</p></td>
+<td><p>SyncWorld</p></td>
+<td><p>Update the state of the agents and the virtual world (e.g. due to agent movements).</p></td>
+</tr>
+<tr class="row-even"><td><p>Finalize</p></td>
+<td><p>no</p></td>
+<td><p>EventDetector, Manipulator, Observation</p></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="task-priorities">
+<h3>Task priorities<a class="headerlink" href="#task-priorities" title="Permalink to this headline">¶</a></h3>
+<p>The order of the tasks within one phase depends on component priority and task type.
+All tasks for a given timestamp are ordered by the SchedulerTasks priority, and divided into the aformentioned phases.</p>
+<p>The following table shows the priorities for the non-component task types:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 13%" />
+<col style="width: 7%" />
+<col style="width: 81%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Task type</p></th>
+<th class="head"><p>Priority</p></th>
+<th class="head"><p>Notes</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Spawning</p></td>
+<td><p>4</p></td>
+<td><p>Highest priority, nothing can happen before any agent is instantiated.</p></td>
+</tr>
+<tr class="row-odd"><td><p>EventDetector</p></td>
+<td><p>3</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>Manipulator</p></td>
+<td><p>2</p></td>
+<td><p>The manipulator task uses the event detector tasks as input. Therefore it is called afterwards.</p></td>
+</tr>
+<tr class="row-odd"><td><p>SyncGlobalData</p></td>
+<td><p>1</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>Observation</p></td>
+<td><p>0</p></td>
+<td><p>Observation tasks have to be execute at the end.</p></td>
+</tr>
+</tbody>
+</table>
+<p>The priority of trigger and update tasks depend on the priority within the SystemConfig.
+They are independent of non-component priorities.
+Since trigger tasks prepare output signals, output tasks are right called after the corresponding trigger tasks.</p>
+</div>
+</div>
+</div>
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-<li class="toctree-l2"><a class="reference internal" href="slave.html">Slave</a></li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">World_OSI</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#coordinate-systems">Coordinate Systems</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#world-coordinate-system">World Coordinate System</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#road-coordinate-system">Road Coordinate System</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#agent-coordinate-system">Agent Coordinate System</a></li>
-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="#sampling-of-world-geometries">Sampling of World Geometries</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#localization">Localization</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#basics">Basics</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="#getobstruction">GetObstruction</a></li>
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- <div class="section" id="world-osi">
-<span id="id1"></span><h1>World_OSI<a class="headerlink" href="#world-osi" title="Permalink to this headline">¶</a></h1>
-<div class="section" id="coordinate-systems">
-<span id="world-coordinatesystems"></span><h2>Coordinate Systems<a class="headerlink" href="#coordinate-systems" title="Permalink to this headline">¶</a></h2>
-<p>OpenPass uses 3 different coordinate systems.
-All systems rotate counterclockwise and use radian.</p>
-<div class="section" id="world-coordinate-system">
-<h3>World Coordinate System<a class="headerlink" href="#world-coordinate-system" title="Permalink to this headline">¶</a></h3>
-<p>The world coordinate system is absolute. It is the parent coordinate system and all other systems are relative to the world coordinate system.
-This system consists of <em>x</em>, <em>y</em> and <em>z</em> (<em>z</em> is currently unused).</p>
-<div class="figure align-default" id="id2">
-<img alt="../../_images/WorldCoordinateSystem.png" src="../../_images/WorldCoordinateSystem.png" />
-<p class="caption"><span class="caption-text">World Coordinate System</span><a class="headerlink" href="#id2" title="Permalink to this image">¶</a></p>
-</div>
-</div>
-<div class="section" id="road-coordinate-system">
-<h3>Road Coordinate System<a class="headerlink" href="#road-coordinate-system" title="Permalink to this headline">¶</a></h3>
-<p>The road coordinate system is relative to the position of the road in the world coordinate system.
-It consists of <em>s</em> and <em>t</em> coordinates, where <em>s</em> describes the longitudinal position along the road.
-At the beginning of the road <em>s</em> = 0, increasing with the downstream direction of the road.
-The coordinate <em>t</em> describes the lateral position relative to the center of the road, where <em>t</em> > 0 indicates left side and <em>t < 0</em> right side of the road with respect to the road direction.</p>
-<div class="figure align-default" id="id3">
-<img alt="../../_images/RoadCoordinateSystem.png" src="../../_images/RoadCoordinateSystem.png" />
-<p class="caption"><span class="caption-text">Road Coordinate System</span><a class="headerlink" href="#id3" title="Permalink to this image">¶</a></p>
-</div>
-</div>
-<div class="section" id="agent-coordinate-system">
-<h3>Agent Coordinate System<a class="headerlink" href="#agent-coordinate-system" title="Permalink to this headline">¶</a></h3>
-<p>The agent coordinate system is relative to the position of the agent in the world coordinate system.
-It uses longitudinal, lateral and height (height currently unused).
-The system originates at the <em>reference point</em>, which is located at the center of the rear axle.
-The longitudinal axis is parallel to the length of the car and the lateral axis is parallel to the width of the car.</p>
-<div class="figure align-default" id="id4">
-<img alt="../../_images/AgentCoordinateSystem.png" src="../../_images/AgentCoordinateSystem.png" />
-<p class="caption"><span class="caption-text">Agent Coordinate System</span><a class="headerlink" href="#id4" title="Permalink to this image">¶</a></p>
-</div>
-</div>
-</div>
-<div class="section" id="sampling-of-world-geometries">
-<span id="world-sampling"></span><h2>Sampling of World Geometries<a class="headerlink" href="#sampling-of-world-geometries" title="Permalink to this headline">¶</a></h2>
-<p>Roads are described following the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> specification.
-There the geometry of a road is defined algebraically as lines, clothoids and by means of cubic polynomials, whereby primarily only one reference line is defined.
-The lanes can be understood as a stack of parallel lanes, which are given by the width and the offset, now in relation to this reference line, which acts as the underlying coordinate system (‘s/t’ road coordinates with s along the road).
-Here, too, width and offset are defined algebraically, which means that almost any boundary lines can be defined.</p>
-<p>When the world is initialized, these boundary definitions (i.e. algebraic geometries) are converted into piecewise linear elements, which is called sampling.
-The road is scanned at a constant interval along ‘s’, which leads to four-sided (quadrangular) sections of the lanes at common ‘s’ coordinates, so-called lane elements (see LaneElement).
-The scanning is carried out at a scanning rate of 10 centimeters with the aim of achieving a total scanning error of less than 5 centimeters, as required by the representation used internally (c.f. <a class="reference external" href="https://github.com/OpenSimulationInterface">open simulation interface</a>).
-Note that this error is only guaranteed if geometries do not exhibit extreme curvatures, i.e. a deviation of more than 5 cm within two sampling points (10 cm along s).
-The scanned points define so-called joints, which contain all scanned points at an ‘s’ coordinate across all lane boundaries of the given road.
-The number of these joints is reduced by a <a class="reference external" href="https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm">Ramer-Douglas-Peucker algorithm</a>, which ensures that the maximum lateral error of each individual point within a joint is less than 5 cm compared to the originally scanned points.
-Note that (a) the boundary points of geometries are always retained and (b) additional points for lane marking transitions are also retained to ensure the maximum accuracy of these edge cases.
-The lane elements are generated with two successive connections, which are ultimately used in the localization at runtime (see <a class="reference internal" href="#world-localization"><span class="std std-ref">Localization</span></a>).</p>
-<p>Internally, each lane element receives a constant direction, which is defined by the direction of the vector spanned between the centers of the corresponding connections.
-Each joint also holds the corresponding curvature of the road, so that the curvature can be interpolated linearly within a lane element along the ‘s’ coordinate.</p>
-</div>
-<div class="section" id="localization">
-<span id="world-localization"></span><h2>Localization<a class="headerlink" href="#localization" title="Permalink to this headline">¶</a></h2>
-<p>Generally, the position of an agent is stored with respect to [world coordinates (x,y)](ref dev_concepts_coordinatesystems_world).
-As queries on the world operates in [road coordinates (s,t)](ref dev_concepts_coordinatesystems_road), the position of the agent needs to be transformed.</p>
-<p>This section describes the translation of coordinates (x,y) of an agent into RoadCoordinate (s,t), whereas the notion of (s,t) comes from the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> standard.</p>
-<div class="section" id="basics">
-<h3>Basics<a class="headerlink" href="#basics" title="Permalink to this headline">¶</a></h3>
-<p>The following image depics the basic principes of the localization which is rooted on the specifics of the OSI World Layer (aka OWL).</p>
-<div class="figure align-default" id="id5">
-<img alt="../../_images/LocalizationBasics.svg" src="../../_images/LocalizationBasics.svg" /><p class="caption"><span class="caption-text">Localization Basics</span><a class="headerlink" href="#id5" title="Permalink to this image">¶</a></p>
-</div>
-<p>Given is a point P in cartesian coordinates (x/y).
-The task is to assign the point to a lane, defined by a general road geometry and calculate the transformed Point P’ in road coordinates (s/t).</p>
-<p>Road geometry (based on OpenDRIVE):</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>A road consists of several sections</p></li>
-<li><p>Each section consists of several lanes</p></li>
-<li><p>Within a section, the number of lanes is constant</p></li>
-<li><p>Lanes can have one predecessor and one successor</p></li>
-<li><p>The road follows a reference line, which is the reference for the <em>s</em>-coordinate.
-The <em>t</em>-coordinate is perpendicular to this line.</p></li>
-</ul>
-</div></blockquote>
-<p>OWL specifics:</p>
-<blockquote>
-<div><ul class="simple">
-<li><p>All lanes are sampled, generating a stream of generic quadrilaterals (LaneGeometryElements).</p></li>
-<li><p>Within a section, the number of quads per lane is equal, and all lanes have the same length in s.</p></li>
-<li><p>This is realized by a variable sampling width, determined by a constant sampling width along the longest arc.</p></li>
-<li><p>Consequently, points perpendicular to the reference line (<em>t</em>-axis) have the same <em>s</em>-coordinate.</p></li>
-</ul>
-</div></blockquote>
-<p>Note, that the final <em>t</em>-coorindate is calculated with respect to a virtual reference line for each lane.
-This means, that points on the center of a lane have <em>t</em>-coordinate of 0.</p>
-</div>
-<div class="section" id="localization-sequence">
-<h3>Localization sequence<a class="headerlink" href="#localization-sequence" title="Permalink to this headline">¶</a></h3>
-<p>An <a class="reference external" href="https://www.boost.org/doc/libs/1_65_0/libs/geometry/doc/html/geometry/reference/spatial_indexes/boost__geometry__index__rtree.html">r-tree</a> is used to store each LaneGeometryElement.
-Thereby, due to the nature of the r-tree, the bounding box of the LaneGeometryElement is described by its maximum Cartesian coordinates (x_min, x_max, y_min, y_max).
-Objects are located by retrieving all intersecting bounding boxes from the r-tree.
-The picture below shows an example of an agent (blue) with the corresponding Cartesian bounding box, and all located LaneGeometryElements.</p>
-<div class="figure align-default" id="id6">
-<img alt="../../_images/Localization1.png" src="../../_images/Localization1.png" />
-<p class="caption"><span class="caption-text">Example of bounding boxes of LaneGeometryElements and agent</span><a class="headerlink" href="#id6" title="Permalink to this image">¶</a></p>
-</div>
-<p>As the true boundary polygon may be smaller, the actual intersection polygon of the object and each LaneGeometryElement is calculated.
-For each point of a non-empty intersection polygon, the s and t coordinates are calculated and aggregated with respect to the underlying lane.
-For each touched lane, the minimum and maximum s coordinate, and the minimum and maximum lane remainder (delta t) is stored.</p>
-<div class="figure align-default" id="id7">
-<img alt="../../_images/Localization2.png" src="../../_images/Localization2.png" />
-<p class="caption"><span class="caption-text">Example for the calculation of s_min, s_max and delta_left</span><a class="headerlink" href="#id7" title="Permalink to this image">¶</a></p>
-</div>
-<p>In addition, if the reference point (i.e. the middle of the rear axle) or the mainLaneLocator (i.e. the middle of the agent front) are located within a LaneGeometryElement, s/t/yaw is calculated of each point, respectively.
-Further aggregation is done with respect to each road by calculating the minimum and maximum s for each road the agent intersects with.
-For the current route of an agent, the following information is stored: s/t/yaw of the reference point and mainLaneLocator on the route (roads along a route are not allowed to intersect), distance from the lane boundary to the left and right for the road(s) along the route, and OpenDRIVE Ids of the lanes on the route that the agent touches.
-The results also holds information wether both the reference point and the mainLaneLocator lay on the route.
-In the currently implementation, these points must be located - otherwise the agent is despawened, as the agent cannot execute distance queries without a relation to its current route.</p>
-</div>
-</div>
-<div class="section" id="traffic-signs-and-road-markings">
-<span id="world-trafficsigns"></span><h2>Traffic Signs and Road Markings<a class="headerlink" href="#traffic-signs-and-road-markings" title="Permalink to this headline">¶</a></h2>
-<p>The world currently supports a variety of traffic signs and road markings.
-Both are defined in OpenDRIVE as “RoadSignal”.
-At the moment it can only interpret traffic signs according to the German regulations “StVo”.
-Traffic signs can contain optional supplementary traffic signs. Supplementary signs are dependent on a main traffic sign and contain additional information.
-The following traffic signs are supported:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 31%" />
-<col style="width: 6%" />
-<col style="width: 8%" />
-<col style="width: 55%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>TrafficSign</p></th>
-<th class="head"><p>StVo Type</p></th>
-<th class="head"><p>Subtype</p></th>
-<th class="head"><p>Value and Units</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>GiveWay</p></td>
-<td><p>205</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>Stop</p></td>
-<td><p>206</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>DoNotEnter</p></td>
-<td><p>267</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>EnvironmentalZoneBegin</p></td>
-<td><p>270.1</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>EnvironmentalZoneEnd</p></td>
-<td><p>270.2</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>MaximumSpeedLimit</p></td>
-<td><p>274</p></td>
-<td><p>X</p></td>
-<td><p>The subtype “X” is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.</p></td>
-</tr>
-<tr class="row-even"><td><p>SpeedLimitZoneBegin</p></td>
-<td><p>274.1</p></td>
-<td><p>-/20</p></td>
-<td><p>The subtype is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.
-No subtype = 30km/h, 20 = 20km/h</p></td>
-</tr>
-<tr class="row-odd"><td><p>SpeedLimitZoneEnd</p></td>
-<td><p>274.2</p></td>
-<td><p>-/20</p></td>
-<td><p>The subtype is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.
-No subtype = 30km/h, 20 = 20km/h</p></td>
-</tr>
-<tr class="row-even"><td><p>MinimumSpeedLimit</p></td>
-<td><p>275</p></td>
-<td><p>X</p></td>
-<td><p>The subtype is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.</p></td>
-</tr>
-<tr class="row-odd"><td><p>OvertakingBanBegin</p></td>
-<td><p>276</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>OvertakingBanTrucksBegin</p></td>
-<td><p>277</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>EndOfMaximumSpeedLimit</p></td>
-<td><p>278</p></td>
-<td><p>X</p></td>
-<td><p>The subtype “X” is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.</p></td>
-</tr>
-<tr class="row-even"><td><p>EndOfMinimumSpeedLimit</p></td>
-<td><p>279</p></td>
-<td><p>X</p></td>
-<td><p>The subtype “X” is used to define the speedlimit in km/h.
-Afterwards the world converts it to m/s.</p></td>
-</tr>
-<tr class="row-odd"><td><p>OvertakingBanEnd</p></td>
-<td><p>280</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>OvertakingBanTrucksEnd</p></td>
-<td><p>281</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>EndOffAllSpeedLimitsAndOvertakingRestrictions</p></td>
-<td><p>282</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>RightOfWayNextIntersection</p></td>
-<td><p>301</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>RightOfWayBegin</p></td>
-<td><p>306</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>RightOfWayEnd</p></td>
-<td><p>307</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>TownBegin</p></td>
-<td><p>310</p></td>
-<td></td>
-<td><p>This sign contains a text describing the name of the town</p></td>
-</tr>
-<tr class="row-even"><td><p>TownEnd</p></td>
-<td><p>311</p></td>
-<td></td>
-<td><p>This sign contains a text describing the name of the town</p></td>
-</tr>
-<tr class="row-odd"><td><p>TrafficCalmedDistrictBegin</p></td>
-<td><p>325.1</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>TrafficCalmedDistrictEnd</p></td>
-<td><p>325.2</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>HighWayBegin</p></td>
-<td><p>330.1</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>HighWayEnd</p></td>
-<td><p>330.2</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>HighWayExit</p></td>
-<td><p>333</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>AnnounceHighwayExit</p></td>
-<td><p>448</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>HighwayExitPole</p></td>
-<td><p>450</p></td>
-<td><p>50/51/52</p></td>
-<td><p>The subtype describes the distance to the highway exit in m.
-50 = 100m, 51 = 200m, 52 = 300m</p></td>
-</tr>
-<tr class="row-even"><td><p>AnnounceRightLaneEnd</p></td>
-<td><p>531</p></td>
-<td><p>10/11/12/13</p></td>
-<td><p>The subtype describes the number of continuing lanes after the right lane ends.
-10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes</p></td>
-</tr>
-<tr class="row-odd"><td><p>AnnounceLeftLaneEnd</p></td>
-<td><p>531</p></td>
-<td><p>20/21/22/23</p></td>
-<td><p>The subtype describes the number of continuing lanes after the left lane ends.
-10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes</p></td>
-</tr>
-<tr class="row-even"><td><p>DistanceIndication</p></td>
-<td><p>1004</p></td>
-<td><p>30/31/32</p></td>
-<td><p>For subtype 30 the value describes the distance in m.
-For subtype 31 the value describes the distance in km.
-Subtype 32 has a STOP in 100m.</p></td>
-</tr>
-</tbody>
-</table>
-<p>The following road markings are supported:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 42%" />
-<col style="width: 16%" />
-<col style="width: 13%" />
-<col style="width: 29%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>RoadMarking</p></th>
-<th class="head"><p>StVo Type</p></th>
-<th class="head"><p>Subtype</p></th>
-<th class="head"><p>Value and Units</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>PedestrianCrossing</p></td>
-<td><p>293</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>Stop line</p></td>
-<td><p>294</p></td>
-<td></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-<p>The pedestrian crossing can also be defined in OpenDRIVE as object with type “crosswalk”.</p>
-</div>
-<div class="section" id="lane-markings">
-<span id="world-lanemarkings"></span><h2>Lane Markings<a class="headerlink" href="#lane-markings" title="Permalink to this headline">¶</a></h2>
-<p>The world also supports lane markings (i.e. printed lines between two lanes) according to the OpenDRIVE standard.
-The following attributes of the “roadMark” tag in the scenery file are stored in the world and can be retrieved by the GetLaneMarkings query: sOffset, type, weight, color.
-The weight is converted into a width in meter: 0.15 for standard and 0.3 for bold. Lane markings are also converted to OSI LaneBoundaries.
-For the OpenDRIVE type “solid solid”, “solid broken”, “broken solid”, and “broken broken” two LaneBoundaries are created in OSI with a fixed lateral distance of 0.15m.</p>
-</div>
-<div class="section" id="getobstruction">
-<span id="world-getobstruction"></span><h2>GetObstruction<a class="headerlink" href="#getobstruction" title="Permalink to this headline">¶</a></h2>
-<p>The GetObstruction function calculates the lateral distance an agent must travel in order to align with either the left or right boundary of a target object occupying the same lane.</p>
-<p>The calculation adheres to the following process:</p>
-<ol class="arabic simple">
-<li><p>Project the agent’s MainLaneLocator along the lane to the nearest and furthest s-coordinate of the target object, capturing the projected points</p></li>
-<li><p>Create a straight line from the two captured points</p></li>
-<li><p>Calculate the Euclidean distance of each of the target object’s corners to the created line</p></li>
-<li><p>Return the left-most and right-most points with respect to the created line</p></li>
-</ol>
-<div class="figure align-default" id="id8">
-<img alt="../../_images/GetObstruction.png" src="../../_images/GetObstruction.png" />
-<p class="caption"><span class="caption-text">Example for the calculation of GetObstruction</span><a class="headerlink" href="#id8" title="Permalink to this image">¶</a></p>
-</div>
-</div>
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+ <div class="section" id="world-osi">
+<span id="id1"></span><h1>World_OSI<a class="headerlink" href="#world-osi" title="Permalink to this headline">¶</a></h1>
+<div class="section" id="coordinate-systems">
+<span id="coordinatesystems"></span><h2>Coordinate Systems<a class="headerlink" href="#coordinate-systems" title="Permalink to this headline">¶</a></h2>
+<p>OpenPass uses 3 different coordinate systems.
+All systems rotate counterclockwise and use radian.</p>
+<div class="section" id="world-coordinate-system">
+<span id="world-coordinatesystem"></span><h3>World Coordinate System<a class="headerlink" href="#world-coordinate-system" title="Permalink to this headline">¶</a></h3>
+<p>The world coordinate system is absolute. It is the parent coordinate system and all other systems are relative to the world coordinate system.
+This system consists of <em>x</em>, <em>y</em> and <em>z</em> (<em>z</em> is currently unused).</p>
+<div class="figure align-default" id="id2">
+<img alt="../../_images/WorldCoordinateSystem.png" src="../../_images/WorldCoordinateSystem.png" />
+<p class="caption"><span class="caption-text">World Coordinate System</span><a class="headerlink" href="#id2" title="Permalink to this image">¶</a></p>
+</div>
+</div>
+<div class="section" id="road-coordinate-system">
+<span id="road-coordinatesystem"></span><h3>Road Coordinate System<a class="headerlink" href="#road-coordinate-system" title="Permalink to this headline">¶</a></h3>
+<p>The road coordinate system is relative to the position of the road in the world coordinate system.
+It consists of <em>s</em> and <em>t</em> coordinates, where <em>s</em> describes the longitudinal position along the road.
+At the beginning of the road <em>s</em> = 0, increasing with the downstream direction of the road.
+The coordinate <em>t</em> describes the lateral position relative to the center of the road, where <em>t</em> > 0 indicates left side and <em>t < 0</em> right side of the road with respect to the road direction.</p>
+<div class="figure align-default" id="id3">
+<img alt="../../_images/RoadCoordinateSystem.png" src="../../_images/RoadCoordinateSystem.png" />
+<p class="caption"><span class="caption-text">Road Coordinate System</span><a class="headerlink" href="#id3" title="Permalink to this image">¶</a></p>
+</div>
+</div>
+<div class="section" id="agent-coordinate-system">
+<h3>Agent Coordinate System<a class="headerlink" href="#agent-coordinate-system" title="Permalink to this headline">¶</a></h3>
+<p>The agent coordinate system is relative to the position of the agent in the world coordinate system.
+It uses longitudinal, lateral and height (height currently unused).
+The system originates at the <em>reference point</em>, which is located at the center of the rear axle.
+The longitudinal axis is parallel to the length of the car and the lateral axis is parallel to the width of the car.</p>
+<div class="figure align-default" id="id4">
+<img alt="../../_images/AgentCoordinateSystem.png" src="../../_images/AgentCoordinateSystem.png" />
+<p class="caption"><span class="caption-text">Agent Coordinate System</span><a class="headerlink" href="#id4" title="Permalink to this image">¶</a></p>
+</div>
+</div>
+</div>
+<div class="section" id="sampling-of-world-geometries">
+<span id="world-sampling"></span><h2>Sampling of World Geometries<a class="headerlink" href="#sampling-of-world-geometries" title="Permalink to this headline">¶</a></h2>
+<p>Roads are described following the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> specification.
+There the geometry of a road is defined algebraically as lines, clothoids and by means of cubic polynomials, whereby primarily only one reference line is defined.
+The lanes can be understood as a stack of parallel lanes, which are given by the width and the offset, now in relation to this reference line, which acts as the underlying coordinate system (‘s/t’ road coordinates with s along the road).
+Here, too, width and offset are defined algebraically, which means that almost any boundary lines can be defined.</p>
+<p>When the world is initialized, these boundary definitions (i.e. algebraic geometries) are converted into piecewise linear elements, which is called sampling.
+The road is scanned at a constant interval along ‘s’, which leads to four-sided (quadrangular) sections of the lanes at common ‘s’ coordinates, so-called lane elements (see LaneElement).
+The scanning is carried out at a scanning rate of 10 centimeters with the aim of achieving a total scanning error of less than 5 centimeters, as required by the representation used internally (c.f. <a class="reference external" href="https://github.com/OpenSimulationInterface">open simulation interface</a>).
+Note that this error is only guaranteed if geometries do not exhibit extreme curvatures, i.e. a deviation of more than 5 cm within two sampling points (10 cm along s).
+The scanned points define so-called joints, which contain all scanned points at an ‘s’ coordinate across all lane boundaries of the given road.
+The number of these joints is reduced by a <a class="reference external" href="https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm">Ramer-Douglas-Peucker algorithm</a>, which ensures that the maximum lateral error of each individual point within a joint is less than 5 cm compared to the originally scanned points.
+Note that (a) the boundary points of geometries are always retained and (b) additional points for lane marking transitions are also retained to ensure the maximum accuracy of these edge cases.
+The lane elements are generated with two successive connections, which are ultimately used in the localization at runtime (see <a class="reference internal" href="#world-localization"><span class="std std-ref">Localization</span></a>).</p>
+<p>Internally, each lane element receives a constant direction, which is defined by the direction of the vector spanned between the centers of the corresponding connections.
+Each joint also holds the corresponding curvature of the road, so that the curvature can be interpolated linearly within a lane element along the ‘s’ coordinate.</p>
+</div>
+<div class="section" id="localization">
+<span id="world-localization"></span><h2>Localization<a class="headerlink" href="#localization" title="Permalink to this headline">¶</a></h2>
+<p>Generally, the position of an agent is stored with respect to <a class="reference internal" href="#world-coordinatesystem"><span class="std std-ref">world coordinates (x,y)</span></a>.
+As queries on the world operates in <a class="reference internal" href="#road-coordinatesystem"><span class="std std-ref">road coordinates (s,t)</span></a>, the position of the agent needs to be transformed.</p>
+<p>This section describes the translation of coordinates (x,y) of an agent into RoadCoordinate (s,t), whereas the notion of (s,t) comes from the <a class="reference external" href="https://www.asam.net/standards/detail/opendrive/">OpenDRIVE</a> standard.</p>
+<div class="section" id="basics">
+<h3>Basics<a class="headerlink" href="#basics" title="Permalink to this headline">¶</a></h3>
+<p>The following image depics the basic principes of the localization which is rooted on the specifics of the OSI World Layer (aka OWL).</p>
+<div class="figure align-default" id="id5">
+<img alt="../../_images/LocalizationBasics.svg" src="../../_images/LocalizationBasics.svg" /><p class="caption"><span class="caption-text">Localization Basics</span><a class="headerlink" href="#id5" title="Permalink to this image">¶</a></p>
+</div>
+<p>Given is a point P in cartesian coordinates (x/y).
+The task is to assign the point to a lane, defined by a general road geometry and calculate the transformed Point P’ in road coordinates (s/t).</p>
+<p>Road geometry (based on OpenDRIVE):</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>A road consists of several sections</p></li>
+<li><p>Each section consists of several lanes</p></li>
+<li><p>Within a section, the number of lanes is constant</p></li>
+<li><p>Lanes can have one predecessor and one successor</p></li>
+<li><p>The road follows a reference line, which is the reference for the <em>s</em>-coordinate.
+The <em>t</em>-coordinate is perpendicular to this line.</p></li>
+</ul>
+</div></blockquote>
+<p>OWL specifics:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>All lanes are sampled, generating a stream of generic quadrilaterals (LaneGeometryElements).</p></li>
+<li><p>Within a section, the number of quads per lane is equal, and all lanes have the same length in s.</p></li>
+<li><p>This is realized by a variable sampling width, determined by a constant sampling width along the longest arc.</p></li>
+<li><p>Consequently, points perpendicular to the reference line (<em>t</em>-axis) have the same <em>s</em>-coordinate.</p></li>
+</ul>
+</div></blockquote>
+<p>Note, that the final <em>t</em>-coorindate is calculated with respect to a virtual reference line for each lane.
+This means, that points on the center of a lane have <em>t</em>-coordinate of 0.</p>
+</div>
+<div class="section" id="localization-sequence">
+<h3>Localization sequence<a class="headerlink" href="#localization-sequence" title="Permalink to this headline">¶</a></h3>
+<p>An <a class="reference external" href="https://www.boost.org/doc/libs/1_65_0/libs/geometry/doc/html/geometry/reference/spatial_indexes/boost__geometry__index__rtree.html">r-tree</a> is used to store each LaneGeometryElement.
+Thereby, due to the nature of the r-tree, the bounding box of the LaneGeometryElement is described by its maximum Cartesian coordinates (x_min, x_max, y_min, y_max).
+Objects are located by retrieving all intersecting bounding boxes from the r-tree.
+The picture below shows an example of an agent (blue) with the corresponding Cartesian bounding box, and all located LaneGeometryElements.</p>
+<div class="figure align-default" id="id6">
+<img alt="../../_images/Localization1.png" src="../../_images/Localization1.png" />
+<p class="caption"><span class="caption-text">Example of bounding boxes of LaneGeometryElements and agent</span><a class="headerlink" href="#id6" title="Permalink to this image">¶</a></p>
+</div>
+<p>As the true boundary polygon may be smaller, the actual intersection polygon of the object and each LaneGeometryElement is calculated.
+For each point of a non-empty intersection polygon, the s and t coordinates are calculated and aggregated with respect to the underlying lane.
+For each touched lane, the minimum and maximum s coordinate, and the minimum and maximum lane remainder (delta t) is stored.</p>
+<div class="figure align-default" id="id7">
+<img alt="../../_images/Localization2.png" src="../../_images/Localization2.png" />
+<p class="caption"><span class="caption-text">Example for the calculation of s_min, s_max and delta_left</span><a class="headerlink" href="#id7" title="Permalink to this image">¶</a></p>
+</div>
+<p>In addition, if the reference point (i.e. the middle of the rear axle) or the mainLaneLocator (i.e. the middle of the agent front) are located within a LaneGeometryElement, s/t/yaw is calculated of each point, respectively.
+Further aggregation is done with respect to each road by calculating the minimum and maximum s for each road the agent intersects with.
+For the current route of an agent, the following information is stored: s/t/yaw of the reference point and mainLaneLocator on the route (roads along a route are not allowed to intersect), distance from the lane boundary to the left and right for the road(s) along the route, and OpenDRIVE Ids of the lanes on the route that the agent touches.
+The results also holds information wether both the reference point and the mainLaneLocator lay on the route.
+In the currently implementation, these points must be located - otherwise the agent is despawened, as the agent cannot execute distance queries without a relation to its current route.</p>
+</div>
+</div>
+<div class="section" id="traffic-signs-and-road-markings">
+<span id="world-trafficsigns"></span><h2>Traffic Signs and Road Markings<a class="headerlink" href="#traffic-signs-and-road-markings" title="Permalink to this headline">¶</a></h2>
+<p>The world currently supports a variety of traffic signs and road markings.
+Both are defined in OpenDRIVE as “RoadSignal”.
+At the moment it can only interpret traffic signs according to the German regulations “StVo”.
+Traffic signs can contain optional supplementary traffic signs. Supplementary signs are dependent on a main traffic sign and contain additional information.
+The following traffic signs are supported:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 31%" />
+<col style="width: 6%" />
+<col style="width: 8%" />
+<col style="width: 55%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>TrafficSign</p></th>
+<th class="head"><p>StVo Type</p></th>
+<th class="head"><p>Subtype</p></th>
+<th class="head"><p>Value and Units</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>GiveWay</p></td>
+<td><p>205</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Stop</p></td>
+<td><p>206</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>DoNotEnter</p></td>
+<td><p>267</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>EnvironmentalZoneBegin</p></td>
+<td><p>270.1</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>EnvironmentalZoneEnd</p></td>
+<td><p>270.2</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>MaximumSpeedLimit</p></td>
+<td><p>274</p></td>
+<td><p>X</p></td>
+<td><p>The subtype “X” is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.</p></td>
+</tr>
+<tr class="row-even"><td><p>SpeedLimitZoneBegin</p></td>
+<td><p>274.1</p></td>
+<td><p>-/20</p></td>
+<td><p>The subtype is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.
+No subtype = 30km/h, 20 = 20km/h</p></td>
+</tr>
+<tr class="row-odd"><td><p>SpeedLimitZoneEnd</p></td>
+<td><p>274.2</p></td>
+<td><p>-/20</p></td>
+<td><p>The subtype is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.
+No subtype = 30km/h, 20 = 20km/h</p></td>
+</tr>
+<tr class="row-even"><td><p>MinimumSpeedLimit</p></td>
+<td><p>275</p></td>
+<td><p>X</p></td>
+<td><p>The subtype is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.</p></td>
+</tr>
+<tr class="row-odd"><td><p>OvertakingBanBegin</p></td>
+<td><p>276</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>OvertakingBanTrucksBegin</p></td>
+<td><p>277</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>EndOfMaximumSpeedLimit</p></td>
+<td><p>278</p></td>
+<td><p>X</p></td>
+<td><p>The subtype “X” is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.</p></td>
+</tr>
+<tr class="row-even"><td><p>EndOfMinimumSpeedLimit</p></td>
+<td><p>279</p></td>
+<td><p>X</p></td>
+<td><p>The subtype “X” is used to define the speedlimit in km/h.
+Afterwards the world converts it to m/s.</p></td>
+</tr>
+<tr class="row-odd"><td><p>OvertakingBanEnd</p></td>
+<td><p>280</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>OvertakingBanTrucksEnd</p></td>
+<td><p>281</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>EndOffAllSpeedLimitsAndOvertakingRestrictions</p></td>
+<td><p>282</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>RightOfWayNextIntersection</p></td>
+<td><p>301</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>RightOfWayBegin</p></td>
+<td><p>306</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>RightOfWayEnd</p></td>
+<td><p>307</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>TownBegin</p></td>
+<td><p>310</p></td>
+<td></td>
+<td><p>This sign contains a text describing the name of the town</p></td>
+</tr>
+<tr class="row-even"><td><p>TownEnd</p></td>
+<td><p>311</p></td>
+<td></td>
+<td><p>This sign contains a text describing the name of the town</p></td>
+</tr>
+<tr class="row-odd"><td><p>TrafficCalmedDistrictBegin</p></td>
+<td><p>325.1</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>TrafficCalmedDistrictEnd</p></td>
+<td><p>325.2</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>HighWayBegin</p></td>
+<td><p>330.1</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>HighWayEnd</p></td>
+<td><p>330.2</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>HighWayExit</p></td>
+<td><p>333</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>AnnounceHighwayExit</p></td>
+<td><p>448</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>HighwayExitPole</p></td>
+<td><p>450</p></td>
+<td><p>50/51/52</p></td>
+<td><p>The subtype describes the distance to the highway exit in m.
+50 = 100m, 51 = 200m, 52 = 300m</p></td>
+</tr>
+<tr class="row-even"><td><p>AnnounceRightLaneEnd</p></td>
+<td><p>531</p></td>
+<td><p>10/11/12/13</p></td>
+<td><p>The subtype describes the number of continuing lanes after the right lane ends.
+10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes</p></td>
+</tr>
+<tr class="row-odd"><td><p>AnnounceLeftLaneEnd</p></td>
+<td><p>531</p></td>
+<td><p>20/21/22/23</p></td>
+<td><p>The subtype describes the number of continuing lanes after the left lane ends.
+10 = 1 lane, 11 = 2 lanes, 12 = 3 lanes, 13 = 4 lanes</p></td>
+</tr>
+<tr class="row-even"><td><p>DistanceIndication</p></td>
+<td><p>1004</p></td>
+<td><p>30/31/32</p></td>
+<td><p>For subtype 30 the value describes the distance in m.
+For subtype 31 the value describes the distance in km.
+Subtype 32 has a STOP in 100m.</p></td>
+</tr>
+</tbody>
+</table>
+<p>The following road markings are supported:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 42%" />
+<col style="width: 16%" />
+<col style="width: 13%" />
+<col style="width: 29%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>RoadMarking</p></th>
+<th class="head"><p>StVo Type</p></th>
+<th class="head"><p>Subtype</p></th>
+<th class="head"><p>Value and Units</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>PedestrianCrossing</p></td>
+<td><p>293</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Stop line</p></td>
+<td><p>294</p></td>
+<td></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+<p>The pedestrian crossing can also be defined in OpenDRIVE as object with type “crosswalk”.</p>
+</div>
+<div class="section" id="lane-markings">
+<span id="world-lanemarkings"></span><h2>Lane Markings<a class="headerlink" href="#lane-markings" title="Permalink to this headline">¶</a></h2>
+<p>The world also supports lane markings (i.e. printed lines between two lanes) according to the OpenDRIVE standard.
+The following attributes of the “roadMark” tag in the scenery file are stored in the world and can be retrieved by the GetLaneMarkings query: sOffset, type, weight, color.
+The weight is converted into a width in meter: 0.15 for standard and 0.3 for bold. Lane markings are also converted to OSI LaneBoundaries.
+For the OpenDRIVE type “solid solid”, “solid broken”, “broken solid”, and “broken broken” two LaneBoundaries are created in OSI with a fixed lateral distance of 0.15m.</p>
+</div>
+<div class="section" id="getobstruction">
+<span id="world-getobstruction"></span><h2>GetObstruction<a class="headerlink" href="#getobstruction" title="Permalink to this headline">¶</a></h2>
+<p>The GetObstruction function calculates the lateral distance an agent must travel in order to align with either the left or right boundary of a target object occupying the same lane.</p>
+<p>The calculation adheres to the following process:</p>
+<ol class="arabic simple">
+<li><p>Project the agent’s MainLaneLocator along the lane to the nearest and furthest s-coordinate of the target object, capturing the projected points</p></li>
+<li><p>Create a straight line from the two captured points</p></li>
+<li><p>Calculate the Euclidean distance of each of the target object’s corners to the created line</p></li>
+<li><p>Return the left-most and right-most points with respect to the created line</p></li>
+</ol>
+<p>If the first step fails, because the ego lane does not extend to the object’s position (i. e. it ends prematurely or the objects is outside the ego’s route), then the result is invalid, which is indicated by a separate valid flag.</p>
+<div class="figure align-default" id="id8">
+<img alt="../../_images/GetObstruction.png" src="../../_images/GetObstruction.png" />
+<p class="caption"><span class="caption-text">Example for the calculation of GetObstruction</span><a class="headerlink" href="#id8" title="Permalink to this image">¶</a></p>
+</div>
+</div>
+</div>
+
+
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+<li class="toctree-l1"><a class="reference internal" href="installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/60_conan.html">Building with Conan</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="user_guide/50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="user_guide/60_scenario_simulation.html">Simulator</a></li>
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+<ul>
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+<li class="toctree-l1"><a class="reference internal" href="advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="developer_information/20_documentation.html">Documentation Concept</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="other_information/30_license.html">License</a></li>
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+ <div role="contentinfo">
+ <p>
+ © Copyright 2021 OpenPASS Working Group.
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diff --git a/content/html/developer_information/10_ide_support.html b/content/html/developer_information/10_ide_support.html
new file mode 100644
index 0000000..1f8b477
--- /dev/null
+++ b/content/html/developer_information/10_ide_support.html
@@ -0,0 +1,260 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+ <meta charset="utf-8" />
+
+ <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+ <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
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+ 0.8.0
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+ <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
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+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/10_getting_started.html">Getting Started</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing OpenPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption"><span class="caption-text">User Guides</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/10_overview.html">Overview</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/20_tutorials.html">Tutorials</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/40_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/60_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Developer Information</span></p>
+<ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">IDE Support</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="ide_support/20_qt_creator.html">Working with Qt Creator</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ide_support/30_vscode.html">Working with Visual Studio Code</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="20_documentation.html">Documentation Concept</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/30_license.html">License</a></li>
+</ul>
+
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+ </nav>
+
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+
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+ <nav class="wy-nav-top" aria-label="top navigation">
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+ <a href="../index.html">openPASS</a>
+
+ </nav>
+
+
+ <div class="wy-nav-content">
+
+ <div class="rst-content">
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+
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+
+
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+<div role="navigation" aria-label="breadcrumbs navigation">
+
+ <ul class="wy-breadcrumbs">
+
+ <li><a href="../index.html" class="icon icon-home"></a> »</li>
+
+ <li>IDE Support</li>
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+
+ <li class="wy-breadcrumbs-aside">
+
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+ <a href="../_sources/developer_information/10_ide_support.rst.txt" rel="nofollow"> View page source</a>
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+
+
+ <hr/>
+</div>
+ <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+ <div itemprop="articleBody">
+
+ <div class="section" id="ide-support">
+<span id="id1"></span><h1>IDE Support<a class="headerlink" href="#ide-support" title="Permalink to this headline">¶</a></h1>
+<p>Development of <strong>openPASS</strong> is often done in Qt Creator and Visual Studio Code. This section provides guides to set up your build environment.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="ide_support/20_qt_creator.html">Working with Qt Creator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="ide_support/30_vscode.html">Working with Visual Studio Code</a></li>
+</ul>
+</div>
+</div>
+
+
+ </div>
+
+ </div>
+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+ <a href="ide_support/20_qt_creator.html" class="btn btn-neutral float-right" title="Working with Qt Creator" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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+ </div>
+
+ <hr/>
+
+ <div role="contentinfo">
+ <p>
+ © Copyright 2021 OpenPASS Working Group.
+
+ </p>
+ </div>
+
+
+
+ Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
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\ No newline at end of file
diff --git a/content/html/advanced_topics/10_documentation.html b/content/html/developer_information/20_documentation.html
similarity index 66%
rename from content/html/advanced_topics/10_documentation.html
rename to content/html/developer_information/20_documentation.html
index bbcd867..424563a 100644
--- a/content/html/advanced_topics/10_documentation.html
+++ b/content/html/developer_information/20_documentation.html
@@ -1,381 +1,399 @@
-
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-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
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- <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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-<span id="documentation"></span><h1>Documentation Concept<a class="headerlink" href="#documentation-concept" title="Permalink to this headline">¶</a></h1>
-<p><strong>OpenPASS</strong> (Open Source) is developed under the Eclipse Public License and as such private and commercial use is allowed under certain rules (see <a class="reference external" href="https://www.eclipse.org/legal/epl-2.0/">EPL 2.0</a>).
-The basic documentation concept facilitates this by providing a way to include custom content which is not necessarily part of the <strong>openPASS</strong> (Open Source) distribution.
-This results in certain restrictions on how documentation is to be written.
-The following sections describe this restrictions and the process of integrating proprietary documentation into the <strong>openPASS</strong> (Open Source) documentation build.</p>
-<div class="section" id="basic-build-mechanics">
-<h2>Basic Build Mechanics<a class="headerlink" href="#basic-build-mechanics" title="Permalink to this headline">¶</a></h2>
-<p>The required steps to build the documentation are described in <a class="reference internal" href="../installation_guide/sim_installation_guide/meta/sphinx.html#sphinx"><span class="std std-ref">Sphinx</span></a>, provided by CMake files.
-Before building, a temporary copy of the original documentation is made.
-This temporary copy acts as <em>seam</em> for custom extension, as proprietary content is simply copied into the temporary folder (see below).
-This mechanism keeps contents clearly separated during development and allows easy transition from closed to open source if desired.</p>
-<p>References to files located outside of the documentation root is used at various places, as this allows to keep documentation as close to the source as possible.
-These references normally would become invalid when the documentation source is copied or moved to another location.
-Thus, a placeholder is used to have a fixed reference to the <strong>openPASS</strong> (Open Source) tree: <em>@</em><em>OP_REL_SIM</em><em>@</em>.
-This placeholder must be used when referencing files outside of the documentation root.
-Note that this also makes sources more readable.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">..</span> <span class="n">literalinclude</span><span class="p">::</span> <span class="nd">@OP_REL_SIM</span><span class="o">@/</span><span class="n">contrib</span><span class="o">/</span><span class="n">examples</span><span class="o">/</span><span class="n">DefaultConfigurations</span><span class="o">/</span><span class="n">SceneryConfiguration</span><span class="o">.</span><span class="n">xodr</span>
-</pre></div>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Generally, when moving or deleting files, make sure to run <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">clean</span></code> prior to <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">doc</span></code> to remove any outdated files from the build directory.</p>
-</div>
-</div>
-<div class="section" id="adding-custom-content">
-<h2>Adding Custom Content<a class="headerlink" href="#adding-custom-content" title="Permalink to this headline">¶</a></h2>
-<ol class="arabic">
-<li><p><strong>Write the documentation</strong></p>
-<p>As custom documentation simply integrates into the <strong>openPASS</strong> (Open Source) documentation, it is also written in the <em>reStructuredText</em> file format.
-Thereby files have to reside in a directory structure that is a clone of the open source documentation directory structure (starting from <code class="docutils literal notranslate"><span class="pre">sim/doc/source</span></code>).
-During the build your documentation and the open source documentation will both be copied to a temporary directory.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Files existing in both source directories will be overwritten at the destination, with the custom files having higher precedence.</p>
-</div>
-<p>On the TOC tree level, the <strong>seam</strong> to custom files is made through <em>globbing</em> using wildcards, such as <code class="docutils literal notranslate"><span class="pre">folder/*.rst</span></code>.
-Ordering of the files (and to avoid file name collisions) is established through a two digit number prefix and an underscore, e.g. <code class="docutils literal notranslate"><span class="pre">10_quickstart.rst</span></code>.
-This allows injection of proprietary documentation at any position in the TOC tree, as the order of headings is determined by the (ASCII) sorting of the filenames.</p>
-</li>
-<li><p><strong>Referencing files</strong></p>
-<p>Sphinx uses some special path format when referencing files from documentation.
-All paths are relative to a single documentation root directory, but are specified like absolute paths (i.e. with a leading slash).
-Due to the documentation source files being copied to a temporary directory during build, all file references have to be prefixed with a well-known path constant:</p>
-<ul class="simple">
-<li><p>When specifying a file reference to the <strong>openPASS</strong> (Open Source) repository, the file path has to be prefixed with <em>@</em><em>OP_REL_SIM</em><em>@</em>.</p></li>
-<li><p>When referencing files relative to a custom root, an additional placeholder can be introduced in a custom <code class="docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code> (see next steps).</p></li>
-<li><p>These placeholders will then coexist and will be replaced by the correct paths during build.</p></li>
-</ul>
-</li>
-<li><p><strong>Add a cmake file for documentation preparation</strong></p>
-<p>The file <a class="reference download internal" download="" href="../_downloads/2e14f979ef821e72b19423c7a3fd9e5d/PrepareDocCustom.cmake"><code class="xref download docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code></a> can be used as a template.
-Just add the placeholders used in your proprietary documentation.</p>
-<p>This diff highlights the important parts in comparison to the original <code class="docutils literal notranslate"><span class="pre">PrepareDoc.cmake</span></code>, used in the open source documentation build:</p>
-<div class="highlight-udiff notranslate"><div class="highlight"><pre><span></span><span class="gd">--- /home/cloud/simopenpass/sim/doc/PrepareDoc.cmake</span>
-<span class="gi">+++ /home/cloud/simopenpass/sim/doc/source/advanced_topics/_static/custom_doc/PrepareDocCustom.cmake</span>
-<span class="gu">@@ -20,6 +20,7 @@</span>
- # - @OP_REL_SIM@ => relative path to the "op sim" root (e.g. deps/os/sim if
- # using a git submodule with the openPASS open source code at deps/os inside
- # the local repository)
-<span class="gi">+# - @CUSTOM_REL_SIM@ => relative path to the "custom sim" root (.)</span>
-
- macro(copy_documentation source destination)
- message(VERBOSE "Copy ${source} to ${destination}")
-<span class="gu">@@ -34,7 +35,8 @@</span>
- string(REGEX REPLACE "(.*)/$" "\\1" target ${target})
-
- # Placeholder for conf.py: no initial '/' => real relative paths
-<span class="gd">- set(OP_REL_SIM ../${target}) # relative path to the openPASS open source code</span>
-<span class="gi">+ set(OP_REL_SIM ../${target}/deps/os/sim) # relative path to the openPASS open source code, with prefix '../${target}' pointing to the custom repository root if this file is located at <root>/doc</span>
-<span class="gi">+ set(CUSTOM_REL_SIM ../${target}) # relative path to the custom repository root (equal to custom sim root in this example)</span>
-
- configure_file(${destination}/source/conf.py
- ${destination}/source/conf.py @ONLY)
-<span class="gu">@@ -42,6 +44,7 @@</span>
- # Placeholder for RST files: use initial '/' => sphinx style for "from source"
- # Override old one, because we want to use the same placeholder in both contexts
- set(OP_REL_SIM /${OP_REL_SIM})
-<span class="gi">+ set(CUSTOM_REL_SIM /${CUSTOM_REL_SIM})</span>
-
- file(GLOB_RECURSE rstFiles LIST_DIRECTORIES false ${destination}/*.rst)
-
-</pre></div>
-</div>
-</li>
-<li><p><strong>Add a ``doc`` CMake target to your custom build</strong></p>
-<p>To add your custom build target, the following <code class="docutils literal notranslate"><span class="pre">CMakeLists.txt</span></code> snippet can be used as template.
-Note the usage of the <code class="docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code>.</p>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>################################################################################
-# Copyright (c) 2021 in-tech GmbH
-#
-# This program and the accompanying materials are made
-# available under the terms of the Eclipse Public License 2.0
-# which is available at https://www.eclipse.org/legal/epl-2.0/
-#
-# SPDX-License-Identifier: EPL-2.0
-################################################################################
-
-if(WITH_DOC)
- add_custom_target(doc
- # Copy documentation and change placeholders
- # (see PrepareDoc for more information)
- COMMAND ${CMAKE_COMMAND}
- -DSRC=${OPENPASS_OS_DIR}/sim/doc/source
- -DDST=${CMAKE_BINARY_DIR}/doc
- -P ${OPENPASS_OS_DIR}/sim/doc/PrepareDoc.cmake
- COMMENT "Copy OS documentation and replace placeholders"
- COMMAND ${CMAKE_COMMAND}
- -DSRC=${CMAKE_CURRENT_LIST_DIR}/source
- -DDST=${CMAKE_BINARY_DIR}/doc
-<span class="hll"> -P ${CMAKE_CURRENT_LIST_DIR}/PrepareDocCustom.cmake
-</span> COMMENT "Copy custom documentation and replace placeholders (overrides!)"
- COMMAND ${SPHINX_EXECUTABLE} # sphinx-build
- -M html # generate HTML
- ${CMAKE_BINARY_DIR}/doc/source # source path
- ${CMAKE_BINARY_DIR}/doc # destination path
- -DWITH_API_DOC=${WITH_API_DOC} # turn exhale ON/OFF
- COMMENT "Build sphinx documentation"
- COMMAND ${CMAKE_COMMAND}
- -E cmake_echo_color --green
- "The HTML pages are in ${CMAKE_BINARY_DIR}/doc/html.")
-
- set_property(DIRECTORY APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES
- ${CMAKE_BINARY_DIR}/doc)
-
- # make HTML doc available on install
- install(DIRECTORY ${CMAKE_BINARY_DIR}/doc/html/
- DESTINATION ${CMAKE_INSTALL_PREFIX}/doc)
-endif()
-</pre></div>
-</div>
-</li>
-<li><p><strong>Provide a config file for Sphinx</strong></p>
-<p>Sphinx allows to specify a configuration residing in <code class="docutils literal notranslate"><span class="pre">conf.py</span></code> in the documentation source directory.
-Customization is done by providing a customized file here, with the open source version as template (<a class="reference download internal" download="" href="../_downloads/9b97e1145820436cecdf63c39b46a777/conf.py"><code class="xref download docutils literal notranslate"><span class="pre">conf.py</span></code></a>).</p>
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+ <div class="section" id="documentation-concept">
+<span id="documentation"></span><h1>Documentation Concept<a class="headerlink" href="#documentation-concept" title="Permalink to this headline">¶</a></h1>
+<p><strong>OpenPASS</strong> (Open Source) is developed under the Eclipse Public License and as such private and commercial use is allowed under certain rules (see <a class="reference external" href="https://www.eclipse.org/legal/epl-2.0/">EPL 2.0</a>).
+The basic documentation concept facilitates this by providing a way to include custom content which is not necessarily part of the <strong>openPASS</strong> (Open Source) distribution.
+This results in certain restrictions on how documentation is to be written.
+The following sections describe this restrictions and the process of integrating proprietary documentation into the <strong>openPASS</strong> (Open Source) documentation build.</p>
+<div class="section" id="basic-build-mechanics">
+<h2>Basic Build Mechanics<a class="headerlink" href="#basic-build-mechanics" title="Permalink to this headline">¶</a></h2>
+<p>The required steps to build the documentation are described in <a class="reference internal" href="../installation_guide/30_install_openpass.html#download-and-install-openpass"><span class="std std-ref">Installing OpenPASS</span></a>, provided by CMake files using the build option <code class="docutils literal notranslate"><span class="pre">WITH_GUI=ON</span></code>.
+Before building, a temporary copy of the original documentation is made.
+This temporary copy acts as <em>seam</em> for custom extension, as proprietary content is simply copied into the temporary folder (see below).
+This mechanism keeps contents clearly separated during development and allows easy transition from closed to open source if desired.</p>
+<p>References to files located outside of the documentation root is used at various places, as this allows to keep documentation as close to the source as possible.
+These references normally would become invalid when the documentation source is copied or moved to another location.
+Thus, placeholders are used to have a fixed reference to the <strong>openPASS</strong> (Open Source) tree:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p><em>@</em><em>OP_REL_ROOT</em><em>@</em> - Root of repository (<code class="docutils literal notranslate"><span class="pre">.</span></code>)</p></li>
+<li><p><em>@</em><em>OP_REL_GUI</em><em>@</em> - Folder <code class="docutils literal notranslate"><span class="pre">./gui</span></code></p></li>
+<li><p><em>@</em><em>OP_REL_SIM</em><em>@</em> - Folder <code class="docutils literal notranslate"><span class="pre">./sim</span></code></p></li>
+</ul>
+</div></blockquote>
+<p>This placeholders must be used when files outside of the documentation root shall be referenced.
+Note that this also makes sources more readable.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">..</span> <span class="n">literalinclude</span><span class="p">::</span> <span class="nd">@OP_REL_SIM</span><span class="o">@/</span><span class="n">contrib</span><span class="o">/</span><span class="n">examples</span><span class="o">/</span><span class="n">Common</span><span class="o">/</span><span class="n">SceneryConfiguration</span><span class="o">.</span><span class="n">xodr</span>
+</pre></div>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Generally, when moving or deleting files, make sure to run <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">clean</span></code> prior to <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">doc</span></code> to remove any outdated files from the build directory.</p>
+</div>
+</div>
+<div class="section" id="openpass-as-submodule">
+<h2>openPASS as Submodule<a class="headerlink" href="#openpass-as-submodule" title="Permalink to this headline">¶</a></h2>
+<ol class="arabic">
+<li><p><strong>Write the documentation</strong></p>
+<p>As custom documentation simply integrates into the <strong>openPASS</strong> (Open Source) documentation, it is also written in the <em>reStructuredText</em> file format.
+Thereby files have to reside in a directory structure that is a clone of the open source documentation directory structure (starting from <code class="docutils literal notranslate"><span class="pre">doc/source</span></code>).
+During the build your documentation and the open source documentation will both be copied to a temporary directory.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Files existing in both source directories will be overwritten at the destination, with the custom files having higher precedence.</p>
+</div>
+<p>On the TOC tree level, the <strong>seam</strong> to custom files is made through <em>globbing</em> using wildcards, such as <code class="docutils literal notranslate"><span class="pre">folder/*.rst</span></code>.
+Ordering of the files (and to avoid file name collisions) is established through a two digit number prefix and an underscore, e.g. <code class="docutils literal notranslate"><span class="pre">10_quickstart.rst</span></code>.
+This allows injection of proprietary documentation at any position in the TOC tree, as the order of headings is determined by the (ASCII) sorting of the filenames.</p>
+</li>
+<li><p><strong>Referencing files</strong></p>
+<p>Sphinx uses some special path format when referencing files from documentation.
+All paths are relative to a single documentation root directory, but are specified like absolute paths (i.e. with a leading slash).
+Due to the documentation source files being copied to a temporary directory during build, all file references have to be prefixed with a path constant:</p>
+<ul class="simple">
+<li><p>When specifying a file reference relative to the <strong>openPASS</strong> (Open Source) repository, the file path has to be prefixed with custom placeholders, such as <em>@</em><em>OP_REL_ROOT</em><em>@</em> (see above).</p></li>
+<li><p>When referencing files relative to a custom root, additional placeholders can be introduced in a custom <code class="docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code> (see next steps).</p></li>
+<li><p>These placeholders will then coexist and will be replaced with the corresponding paths during build.</p></li>
+</ul>
+</li>
+<li><p><strong>Add a cmake file for documentation preparation</strong></p>
+<p>The file <a class="reference download internal" download="" href="../_downloads/13db75188596730e5b909e7eb9b658b0/PrepareDocCustom.cmake"><code class="xref download docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code></a> can be used as a template.
+Just add the placeholders used in your proprietary documentation.</p>
+<p>This diff highlights the important parts in comparison to the original <code class="docutils literal notranslate"><span class="pre">PrepareDoc.cmake</span></code>, used in the open source documentation build:</p>
+<div class="highlight-udiff notranslate"><div class="highlight"><pre><span></span><span class="gd">--- W:/repo/doc/PrepareDoc.cmake</span>
+<span class="gi">+++ W:/build/doc/source/developer_information/_static/custom_doc/PrepareDocCustom.cmake</span>
+<span class="gu">@@ -20,6 +20,7 @@</span>
+ # - @OP_REL_ROOT@ => relative path to root of the openpass repository
+ # - @OP_REL_GUI@ => resolves to @OP_REL_ROOT@/gui
+ # - @OP_REL_SIM@ => resolves to @OP_REL_ROOT@/sim
+<span class="gi">+# - @CUSTOM_REL_SIM@ => relative path to the "custom" root (.)</span>
+
+ macro(copy_documentation source destination)
+ message(VERBOSE "Copy ${source} to ${destination}")
+<span class="gu">@@ -34,9 +35,10 @@</span>
+ string(REGEX REPLACE "(.*)/$" "\\1" target ${target})
+
+ # Placeholder for conf.py: no initial '/' => real relative paths
+<span class="gd">- set(OP_REL_ROOT ../${target}) # relative path to repository root</span>
+<span class="gi">+ set(OP_REL_ROOT ../${target}/deps/os) # relative path to the openPASS open source code, with prefix '../${target}' pointing to the custom repository root if this file is located at <root>/doc</span>
+ set(OP_REL_GUI ${OP_REL_ROOT}/gui) # relative path to gui root
+ set(OP_REL_SIM ${OP_REL_ROOT}/sim) # relative path to simulation root
+<span class="gi">+ set(CUSTOM_REL_SIM ../${target}) # relative path to the custom repository root (here, equal to custom sim root)</span>
+
+ configure_file(${destination}/source/conf.py
+ ${destination}/source/conf.py @ONLY)
+<span class="gu">@@ -46,6 +48,7 @@</span>
+ set(OP_REL_ROOT /${OP_REL_ROOT})
+ set(OP_REL_GUI /${OP_REL_GUI})
+ set(OP_REL_SIM /${OP_REL_SIM})
+<span class="gi">+ set(CUSTOM_REL_SIM /${CUSTOM_REL_SIM})</span>
+
+ file(GLOB_RECURSE rstFiles LIST_DIRECTORIES false ${destination}/*.rst)
+
+</pre></div>
+</div>
+</li>
+<li><p><strong>Add a ``doc`` CMake target to your custom build</strong></p>
+<p>To add your custom build target, the following <code class="docutils literal notranslate"><span class="pre">CMakeLists.txt</span></code> snippet can be used as template.
+Note the usage of the <code class="docutils literal notranslate"><span class="pre">PrepareDocCustom.cmake</span></code>.</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>################################################################################
+# Copyright (c) 2021 in-tech GmbH
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0
+################################################################################
+
+if(WITH_DOC)
+ add_custom_target(doc
+ # Copy documentation and change placeholders
+ # (see PrepareDoc for more information)
+ COMMAND ${CMAKE_COMMAND}
+ -DSRC=${OPENPASS_OS_DIR}/doc/source
+ -DDST=${CMAKE_BINARY_DIR}/doc
+ -P ${OPENPASS_OS_DIR}/doc/PrepareDoc.cmake
+ COMMENT "Copy OS documentation and replace placeholders"
+ COMMAND ${CMAKE_COMMAND}
+ -DSRC=${CMAKE_CURRENT_LIST_DIR}/source
+ -DDST=${CMAKE_BINARY_DIR}/doc
+<span class="hll"> -P ${CMAKE_CURRENT_LIST_DIR}/PrepareDocCustom.cmake
+</span> COMMENT "Copy custom documentation and replace placeholders (overrides!)"
+ COMMAND ${SPHINX_EXECUTABLE} # sphinx-build
+ -M html # generate HTML
+ ${CMAKE_BINARY_DIR}/doc/source # source path
+ ${CMAKE_BINARY_DIR}/doc # destination path
+ -DWITH_API_DOC=${WITH_API_DOC} # turn exhale ON/OFF
+ COMMENT "Build sphinx documentation"
+ COMMAND ${CMAKE_COMMAND}
+ -E cmake_echo_color --green
+ "The HTML pages are in ${CMAKE_BINARY_DIR}/doc/html.")
+
+ set_property(DIRECTORY APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES
+ ${CMAKE_BINARY_DIR}/doc)
+
+ # make HTML doc available on install
+ install(DIRECTORY ${CMAKE_BINARY_DIR}/doc/html/
+ DESTINATION ${CMAKE_INSTALL_PREFIX}/doc)
+endif()
+</pre></div>
+</div>
+</li>
+<li><p><strong>Provide a config file for Sphinx</strong></p>
+<p>Sphinx allows to specify a configuration residing in <code class="docutils literal notranslate"><span class="pre">conf.py</span></code> in the documentation source directory.
+Customization is done by providing a customized file here, with the open source version as template (<a class="reference download internal" download="" href="../_downloads/c182e909c0bef397a2a7e7c51c6f7763/conf.py"><code class="xref download docutils literal notranslate"><span class="pre">/../../../repo/doc/source/conf.py</span></code></a>).</p>
+</li>
+</ol>
+</div>
+</div>
+
+
+ </div>
+
+ </div>
+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+ <a href="../other_information/10_external_dependencies.html" class="btn btn-neutral float-right" title="External Dependencies" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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+ </div>
+
+ <hr/>
+
+ <div role="contentinfo">
+ <p>
+ © Copyright 2021 OpenPASS Working Group.
+
+ </p>
+ </div>
+
+
+
+ Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+
+ <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
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+ jQuery(function () {
+ SphinxRtdTheme.Navigation.enable(true);
+ });
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+<!DOCTYPE html>
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+<head>
+ <meta charset="utf-8" />
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+</ul>
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
+<ul>
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+</ul>
+<p class="caption"><span class="caption-text">Developer Information</span></p>
+<ul class="current">
+<li class="toctree-l1 current"><a class="reference internal" href="../10_ide_support.html">IDE Support</a><ul class="current">
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Working with Qt Creator</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#settings-msys2">Settings (MSYS2)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#setup-cmake-kit">Setup CMake-Kit</a></li>
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+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="#settings-linux">Settings (Linux)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#setup-kit">Setup Kit</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#id2">Setup Project</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="#alternative-method">Alternative Method</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="30_vscode.html">Working with Visual Studio Code</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../20_documentation.html">Documentation Concept</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../../other_information/10_external_dependencies.html">External Dependencies</a></li>
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+
+ <div class="section" id="working-with-qt-creator">
+<span id="qtcreator"></span><h1>Working with Qt Creator<a class="headerlink" href="#working-with-qt-creator" title="Permalink to this headline">¶</a></h1>
+<div class="section" id="settings-msys2">
+<h2>Settings (MSYS2)<a class="headerlink" href="#settings-msys2" title="Permalink to this headline">¶</a></h2>
+<div class="section" id="setup-cmake-kit">
+<h3>Setup CMake-Kit<a class="headerlink" href="#setup-cmake-kit" title="Permalink to this headline">¶</a></h3>
+<ol class="arabic">
+<li><p>Add CMake under <code class="docutils literal notranslate"><span class="pre">Tools</span> <span class="pre">-></span> <span class="pre">Options</span> <span class="pre">-></span> <span class="pre">Kits</span> <span class="pre">-></span> <span class="pre">CMake</span></code></p>
+<div class="figure align-center">
+<a class="reference internal image-reference" href="../../_images/qtcreator_settings_cmake.png"><img alt="../../_images/qtcreator_settings_cmake.png" src="../../_images/qtcreator_settings_cmake.png" style="width: 573.0px; height: 442.8px;" /></a>
+</div>
+</li>
+<li><p>Add C and C++ Compilers under <code class="docutils literal notranslate"><span class="pre">Tools</span> <span class="pre">-></span> <span class="pre">Options</span> <span class="pre">-></span> <span class="pre">Kits</span> <span class="pre">-></span> <span class="pre">Compilers</span></code></p>
+<div class="figure align-center">
+<a class="reference internal image-reference" href="../../_images/qtcreator_settings_g++.png"><img alt="../../_images/qtcreator_settings_g++.png" src="../../_images/qtcreator_settings_g++.png" style="width: 573.0px; height: 442.8px;" /></a>
+</div>
+<div class="figure align-center">
+<a class="reference internal image-reference" href="../../_images/qtcreator_settings_gcc.png"><img alt="../../_images/qtcreator_settings_gcc.png" src="../../_images/qtcreator_settings_gcc.png" style="width: 573.0px; height: 442.8px;" /></a>
+</div>
+</li>
+<li><p>Add Debugger under <code class="docutils literal notranslate"><span class="pre">Tools</span> <span class="pre">-></span> <span class="pre">Options</span> <span class="pre">-></span> <span class="pre">Kits</span> <span class="pre">-></span> <span class="pre">Debuggers</span></code></p>
+<div class="figure align-center">
+<a class="reference internal image-reference" href="../../_images/qtcreator_settings_gdb.png"><img alt="../../_images/qtcreator_settings_gdb.png" src="../../_images/qtcreator_settings_gdb.png" style="width: 573.0px; height: 442.8px;" /></a>
+</div>
+</li>
+<li><p>Add Kit under <code class="docutils literal notranslate"><span class="pre">Tools</span> <span class="pre">-></span> <span class="pre">Options</span> <span class="pre">-></span> <span class="pre">Kits</span> <span class="pre">-></span> <span class="pre">Kits</span></code></p>
+<div class="figure align-center">
+<a class="reference internal image-reference" href="../../_images/qtcreator_settings_kit.png"><img alt="../../_images/qtcreator_settings_kit.png" src="../../_images/qtcreator_settings_kit.png" style="width: 573.0px; height: 442.8px;" /></a>
+</div>
+</li>
+<li><p>Adjust <code class="docutils literal notranslate"><span class="pre">CMake</span> <span class="pre">Generator</span></code> under <code class="docutils literal notranslate"><span class="pre">Tools</span> <span class="pre">-></span> <span class="pre">Options</span> <span class="pre">-></span> <span class="pre">Kits</span> <span class="pre">-></span> <span class="pre">Kits</span></code> to <code class="docutils literal notranslate"><span class="pre">MSYS</span> <span class="pre">Makefiles</span></code></p>
+<div class="figure align-center">
+<a class="reference internal image-reference" href="../../_images/qtcreator_settings_cmake_generator.png"><img alt="../../_images/qtcreator_settings_cmake_generator.png" src="../../_images/qtcreator_settings_cmake_generator.png" style="width: 169.2px; height: 123.6px;" /></a>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Change the environment variable to <code class="docutils literal notranslate"><span class="pre">MAKEFLAGS=-j4</span></code> (or similar) to enable parallel building on the kit level.</p>
+</div>
+</li>
+</ol>
+</div>
+<div class="section" id="setup-project">
+<h3>Setup Project<a class="headerlink" href="#setup-project" title="Permalink to this headline">¶</a></h3>
+<ol class="arabic">
+<li><p>Load the project by opening a <code class="docutils literal notranslate"><span class="pre">CMakeLists.txt</span></code> file and configure it to use the new kit.</p></li>
+<li><p>Setup missing CMake flags (c.f. :ref:’CMake’)</p>
+<div class="admonition-todo admonition" id="id1">
+<p class="admonition-title">Todo</p>
+<p>The configuration is still “itchy”, as Qt creator changes the interface with every version</p>
+</div>
+</li>
+</ol>
+</div>
+</div>
+<div class="section" id="settings-linux">
+<h2>Settings (Linux)<a class="headerlink" href="#settings-linux" title="Permalink to this headline">¶</a></h2>
+<div class="section" id="setup-kit">
+<h3>Setup Kit<a class="headerlink" href="#setup-kit" title="Permalink to this headline">¶</a></h3>
+<p>Qt Creator should be able to come up with a suiteable kit for developing <strong>openPASS</strong> on its own.
+If not, check if all <a class="reference internal" href="../../installation_guide/20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a> are met. Also, the steps above should be a good indicator, where to look for potential troubles.</p>
+</div>
+<div class="section" id="id2">
+<h3>Setup Project<a class="headerlink" href="#id2" title="Permalink to this headline">¶</a></h3>
+<ol class="arabic">
+<li><p>Load the project by opening a <code class="docutils literal notranslate"><span class="pre">CMakeLists.txt</span></code> file and configure it to use a proper kit.</p></li>
+<li><p>Setup missing CMake flags (c.f. :ref:’CMake’)</p>
+<div class="admonition-todo admonition" id="id3">
+<p class="admonition-title">Todo</p>
+<p>The configuration is still “itchy”, as Qt creator changes the interface with every version</p>
+</div>
+</li>
+</ol>
+</div>
+</div>
+<div class="section" id="alternative-method">
+<h2>Alternative Method<a class="headerlink" href="#alternative-method" title="Permalink to this headline">¶</a></h2>
+<div class="admonition-version-issues admonition">
+<p class="admonition-title">Version Issues</p>
+<p>Qt Creator is constantly improving the CMake integration.
+Unfortunatly, some versions seem to be <strong>buggy</strong>.</p>
+<p>Tested Versions: 4.13.2 | 4.12.2</p>
+</div>
+<ol class="arabic">
+<li><p>Follow the install instructions to invoke cmake from within your own build directory.
+- Execute the step for <code class="docutils literal notranslate"><span class="pre">build-release</span></code>
+- Execute the step for <code class="docutils literal notranslate"><span class="pre">build-debug</span></code></p></li>
+<li><p>Open Qt Creator</p></li>
+<li><p>Open <code class="docutils literal notranslate"><span class="pre">CMakeLists.txt</span></code></p></li>
+<li><p>Qt Creator should find the configured build directories and create a temporary kit</p>
+<div class="figure align-center">
+<a class="reference internal image-reference" href="../../_images/qtcreator_project_cmake.png"><img alt="../../_images/qtcreator_project_cmake.png" src="../../_images/qtcreator_project_cmake.png" style="width: 603.6px; height: 414.59999999999997px;" /></a>
+</div>
+<div class="figure align-center">
+<a class="reference internal image-reference" href="../../_images/qtcreator_project_loaded.png"><img alt="../../_images/qtcreator_project_loaded.png" src="../../_images/qtcreator_project_loaded.png" style="width: 603.6px; height: 414.59999999999997px;" /></a>
+</div>
+<div class="figure align-center">
+<a class="reference internal image-reference" href="../../_images/qtcreator_project_cmake_settings.png"><img alt="../../_images/qtcreator_project_cmake_settings.png" src="../../_images/qtcreator_project_cmake_settings.png" style="width: 603.6px; height: 414.59999999999997px;" /></a>
+</div>
+</li>
+</ol>
+</div>
+</div>
+
+
+ </div>
+
+ </div>
+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+ <a href="30_vscode.html" class="btn btn-neutral float-right" title="Working with Visual Studio Code" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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+ <p>
+ © Copyright 2021 OpenPASS Working Group.
+
+ </p>
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+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+ <meta charset="utf-8" />
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+ <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+ <title>Working with Visual Studio Code — OpenPASS Documentation</title>
+
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+ <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
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+ <p class="caption"><span class="caption-text">Installation Guide</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/10_getting_started.html">Getting Started</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/30_install_openpass.html">Installing OpenPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption"><span class="caption-text">User Guides</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/10_overview.html">Overview</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/20_tutorials.html">Tutorials</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/40_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/60_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Developer Information</span></p>
+<ul class="current">
+<li class="toctree-l1 current"><a class="reference internal" href="../10_ide_support.html">IDE Support</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="20_qt_creator.html">Working with Qt Creator</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Working with Visual Studio Code</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#assumptions">Assumptions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#installation">Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#configuration">Configuration</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#win-only-msys2-path"> MSYS2 Path</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#build-kit">Build Kit</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#user-settings">User Settings</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#c-and-intellisense">C++ and IntelliSense</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#configure-the-build">Configure the Build</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#debug-targets">Debug Targets</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="#troubleshooting">Troubleshooting</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../20_documentation.html">Documentation Concept</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/30_license.html">License</a></li>
+</ul>
+
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+ <div itemprop="articleBody">
+
+ <div class="section" id="working-with-visual-studio-code">
+<span id="vscode"></span><h1>Working with Visual Studio Code<a class="headerlink" href="#working-with-visual-studio-code" title="Permalink to this headline">¶</a></h1>
+<p>This section describes the basic setup for Visual Studio Code.</p>
+<div class="figure align-center" id="id1">
+<img alt="../../_images/vscode_quick_intro.png" src="../../_images/vscode_quick_intro.png" />
+<p class="caption"><span class="caption-text">Correctly configured Visual Studio Code showing – among other things – <strong>left</strong>, debugging, testmate, and cmake pane selectors, and at the <strong>bottom</strong>, build type, kit, current target, and CTest runner.</span><a class="headerlink" href="#id1" title="Permalink to this image">¶</a></p>
+</div>
+<div class="section" id="assumptions">
+<h2>Assumptions<a class="headerlink" href="#assumptions" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>For brevity, non-standard libraries are expected to be in the folder <code class="docutils literal notranslate"><span class="pre">./deps/thirdParty</span></code>.</p></li>
+<li><p><img alt="win_only" src="../../_images/win_only.png" /> <strong>MSYS2/MinGW 64 Bit</strong> is used.</p></li>
+</ul>
+</div>
+<div class="section" id="installation">
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this headline">¶</a></h2>
+<ol class="arabic simple">
+<li><p>Install Visual Studio Code (<a class="reference external" href="https://code.visualstudio.com">https://code.visualstudio.com</a>)</p></li>
+<li><p>Install Extensions</p></li>
+</ol>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 65%" />
+<col style="width: 35%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Name</p></th>
+<th class="head"><p>Purpose</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><a class="reference external" href="https://marketplace.visualstudio.com/items?itemName=ms-vscode.cpptools">C/C++</a></p></td>
+<td><p>Support for C/C++, including IntelliSense and debugging</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://vector-of-bool.github.io/docs/vscode-cmake-tools">CMake Tools</a></p></td>
+<td><p>Extended CMake support</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://marketplace.visualstudio.com/items?itemName=matepek.vscode-catch2-test-adapter">C++ Testmate</a></p></td>
+<td><p>Run and debug GoogleTest</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://marketplace.visualstudio.com/items?itemName=fougas.msys2">MSYS2/Cygwin/MinGW/Clang support</a></p></td>
+<td><p><img alt="win_only" src="../../_images/win_only.png" /> MSYS2/MinGW configuration adapter</p></td>
+</tr>
+</tbody>
+</table>
+<ol class="arabic simple" start="3">
+<li><p>Open the repository as folder, e.g. by calling <code class="docutils literal notranslate"><span class="pre">code</span> <span class="pre">simopenpass</span></code> after checking out.
+Say yes, when CMake Tools ask to configure the project.
+This creates a <code class="docutils literal notranslate"><span class="pre">build</span></code> folder, <strong>but fails</strong> (well, we need to config some stages).</p></li>
+</ol>
+</div>
+<div class="section" id="configuration">
+<h2>Configuration<a class="headerlink" href="#configuration" title="Permalink to this headline">¶</a></h2>
+<div class="section" id="win-only-msys2-path">
+<h3><img alt="win_only" src="../../_images/win_only.png" /> MSYS2 Path<a class="headerlink" href="#win-only-msys2-path" title="Permalink to this headline">¶</a></h3>
+<p>Normally, runtime dependencies (DLLs) are not copied into the executables folder within the build process.
+This means, that programs cannot be executed natively from Windows shells or the explorer.
+It is therefore highly recommended, to set the environmental variable <code class="docutils literal notranslate"><span class="pre">MSYSTEM=MINGW64</span></code> and <code class="docutils literal notranslate"><span class="pre">CHERE_INVOKING=1</span></code>.
+The setting of <code class="docutils literal notranslate"><span class="pre">MSYSTEM</span></code> will cause the environment to be set up correctly for MinGW64.
+Windows will then look for DLLs within the msys64 folders, allowing native execution.
+<code class="docutils literal notranslate"><span class="pre">CHERE_INVOKING</span></code> makes sure the shell stays in the current working directory.
+As investigated recently, the <code class="docutils literal notranslate"><span class="pre">C:\msys64\usr\bin``must</span> <span class="pre">also</span> <span class="pre">be</span> <span class="pre">added</span> <span class="pre">to</span> <span class="pre">the</span> <span class="pre">``PATH</span></code> environment variable in order to resolve dependencies to <code class="docutils literal notranslate"><span class="pre">cygpath.exe</span></code>.</p>
+<p>Either set environment variable through the <code class="docutils literal notranslate"><span class="pre">Windows</span> <span class="pre">PowerShell</span></code></p>
+<div class="highlight-PowerShell notranslate"><div class="highlight"><pre><span></span># check if set
+echo ${env:path}
+echo ${env:MSYSTEM}
+echo ${env:CHERE_INVOKING}
+
+# if not
+setx path "%PATH%;C:\msys64\usr\bin"
+setx MSYSTEM "MINGW64"
+setx CHERE_INVOKING "1"
+</pre></div>
+</div>
+<p>or</p>
+<ol class="arabic simple">
+<li><p>Open the start search</p></li>
+<li><p>Type in “env” and choose “Edit the system environment variables”</p></li>
+<li><p>Choose “Environment Variables…”</p></li>
+<li><p>Set the environment variables:</p>
+<ol class="lowerroman simple">
+<li><p>MSYSTEM=MINGW64</p></li>
+<li><p>CHERE_INVOKING=1</p></li>
+<li><p>Add <code class="docutils literal notranslate"><span class="pre">C:\msys64\usr\bin</span></code> to PATH</p></li>
+</ol>
+</li>
+</ol>
+<p>Visual Studio Code needs to be reloaded/restarted after the path update.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>An optimal solution would be to set the system environment variables in VSCode under <code class="docutils literal notranslate"><span class="pre">settings.json</span></code>. This is currently not possible. Please contact us if you find a better solution.</p>
+</div>
+<p>IDEs, as Qt Creator, might set this variable base on the current build type on their own.</p>
+</div>
+<div class="section" id="build-kit">
+<h3>Build Kit<a class="headerlink" href="#build-kit" title="Permalink to this headline">¶</a></h3>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><p><strong>Add and select MSYS2/MinGW64 Build Kit:</strong></p>
+<ol class="arabic">
+<li><p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Edit</span> <span class="pre">User-Local</span> <span class="pre">CMake</span> <span class="pre">Kits</span></code></p></li>
+<li><p>Insert/Update:</p>
+<div class="literal-block-wrapper docutils container" id="id2">
+<div class="code-block-caption"><span class="caption-text">cmake-tools-kits.json</span><a class="headerlink" href="#id2" title="Permalink to this code">¶</a></div>
+<div class="highlight-javascript notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal"> 1</span>
+<span class="normal"> 2</span>
+<span class="normal"> 3</span>
+<span class="normal"> 4</span>
+<span class="normal"> 5</span>
+<span class="normal"> 6</span>
+<span class="normal"> 7</span>
+<span class="normal"> 8</span>
+<span class="normal"> 9</span>
+<span class="normal">10</span>
+<span class="normal">11</span>
+<span class="normal">12</span>
+<span class="normal">13</span></pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="p">[</span>
+ <span class="p">{</span>
+ <span class="s2">"name"</span><span class="o">:</span> <span class="s2">"MinGW64"</span><span class="p">,</span>
+ <span class="s2">"preferredGenerator"</span><span class="o">:</span> <span class="p">{</span> <span class="s2">"name"</span><span class="o">:</span> <span class="s2">"MinGW Makefiles"</span> <span class="p">},</span>
+ <span class="s2">"environmentVariables"</span><span class="o">:</span> <span class="p">{</span> <span class="s2">"PATH"</span><span class="o">:</span> <span class="s2">"${command:mingw64.path}"</span> <span class="p">},</span>
+ <span class="s2">"compilers"</span><span class="o">:</span> <span class="p">{</span>
+ <span class="s2">"C"</span><span class="o">:</span> <span class="s2">"${command:mingw64.cc.exe}"</span><span class="p">,</span>
+ <span class="s2">"CXX"</span><span class="o">:</span> <span class="s2">"${command:mingw64.cxx.exe}"</span><span class="p">,</span>
+ <span class="s2">"Fortran"</span><span class="o">:</span> <span class="s2">"${command:mingw64.fc.exe}"</span>
+ <span class="p">},</span>
+ <span class="s2">"keep"</span><span class="o">:</span> <span class="kc">true</span>
+ <span class="p">}</span>
+<span class="p">]</span>
+</pre></div>
+</td></tr></table></div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/0434e3ab992f6eea8e1df4ae553aa93d/cmake-tools-kits.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Select</span> <span class="pre">a</span> <span class="pre">Kit</span></code> = <code class="docutils literal notranslate"><span class="pre">MinGW64</span></code></p></li>
+</ol>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><p><strong>Select System Build Kit:</strong></p>
+<p><code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Select</span> <span class="pre">a</span> <span class="pre">Kit</span></code> = <code class="docutils literal notranslate"><span class="pre">GCC</span> <span class="pre">10.2.0</span></code></p>
+<p>See also <a class="reference internal" href="../../installation_guide/20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a>.</p>
+</div></div>
+</div>
+<div class="section" id="user-settings">
+<h3>User Settings<a class="headerlink" href="#user-settings" title="Permalink to this headline">¶</a></h3>
+<ol class="arabic">
+<li><p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">Preferences</span> <span class="pre">Open</span> <span class="pre">Workspace</span> <span class="pre">Settings</span> <span class="pre">(JSON)</span></code></p></li>
+<li><p>Insert/Update:</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id3">
+<div class="code-block-caption"><span class="caption-text">settings.json</span><a class="headerlink" href="#id3" title="Permalink to this code">¶</a></div>
+<div class="highlight-javascript notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal"> 1</span>
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+<span class="normal">75</span></pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="p">{</span>
+ <span class="c1">//</span>
+ <span class="c1">// CMAKE</span>
+ <span class="c1">//</span>
+ <span class="c1">// Following settings are from the MSYS2 extension documentation</span>
+ <span class="s2">"cmake.cmakePath"</span><span class="o">:</span> <span class="s2">"${command:cmake.buildkit.cmake.exe}"</span><span class="p">,</span>
+ <span class="s2">"cmake.preferredGenerators"</span><span class="o">:</span> <span class="p">[</span><span class="s2">"Unix Makefiles"</span><span class="p">],</span>
+ <span class="s2">"cmake.configureSettings"</span><span class="o">:</span> <span class="p">{</span>
+ <span class="s2">"CMAKE_MAKE_PROGRAM"</span><span class="o">:</span> <span class="s2">"${command:cmake.buildkit.generator.exe}"</span><span class="p">,</span>
+ <span class="s2">"CMAKE_VERBOSE_MAKEFILE"</span><span class="o">:</span> <span class="kc">false</span>
+ <span class="p">},</span>
+ <span class="c1">// Optional: Adjust to your needs</span>
+ <span class="s2">"cmake.parallelJobs"</span><span class="o">:</span> <span class="mf">4</span><span class="p">,</span>
+ <span class="c1">// See openPASS documentation for individual WITH_* settings</span>
+ <span class="s2">"cmake.configureArgs"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="s2">"-DCMAKE_INSTALL_PREFIX=C:\\OpenPASS\\bin\\core"</span><span class="p">,</span>
+ <span class="c1">// Adjust paths depending on your system</span>
+ <span class="s2">"-DCMAKE_PREFIX_PATH=${workspaceRoot}/deps/thirdParty/win64/FMILibrary;${workspaceRoot}/deps/thirdParty/win64/osi;${workspaceRoot}/deps/thirdParty/win64/minizip;${command:mingw64.root};${command:mingw64.root}/bin;${command:mingw64.root}/lib"</span><span class="p">,</span>
+ <span class="s2">"-DUSE_CCACHE=ON"</span><span class="p">,</span>
+ <span class="s2">"-DCMAKE_BUILD_TYPE=Debug"</span><span class="p">,</span>
+ <span class="s2">"-DWITH_GUI=OFF"</span><span class="p">,</span>
+ <span class="s2">"-DWITH_SIMCORE=ON"</span><span class="p">,</span>
+ <span class="s2">"-DWITH_TESTS=ON"</span><span class="p">,</span>
+ <span class="s2">"-DWITH_DOC=OFF"</span><span class="p">,</span>
+ <span class="s2">"-DWITH_DEBUG_POSTFIX=OFF"</span><span class="p">,</span>
+ <span class="s2">"-DINSTALL_SYSTEM_RUNTIME_DEPS=OFF"</span><span class="p">,</span>
+ <span class="s2">"-DINSTALL_EXTRA_RUNTIME_DEPS=ON"</span><span class="p">,</span>
+ <span class="c1">// For integration with IntelliSense (see c_cpp_properties.json)</span>
+ <span class="s2">"-DCMAKE_EXPORT_COMPILE_COMMANDS=ON"</span>
+ <span class="p">],</span>
+ <span class="c1">//</span>
+ <span class="c1">// TESTMATE</span>
+ <span class="c1">//</span>
+ <span class="c1">// Optional: Adjust to your needs</span>
+ <span class="s2">"testMate.cpp.test.parallelExecutionLimit"</span><span class="o">:</span> <span class="mf">4</span><span class="p">,</span>
+ <span class="s2">"testMate.cpp.test.parallelExecutionOfExecutableLimit"</span><span class="o">:</span> <span class="mf">2</span><span class="p">,</span>
+ <span class="c1">// Optional: Set, if you like to debug test discovery and test start issues</span>
+ <span class="s2">"testMate.cpp.log.logfile"</span><span class="o">:</span> <span class="s2">"C:\\temp\\cpp.testmate.log"</span><span class="p">,</span>
+ <span class="c1">// Optional: As CTest triggers the install step, dependencies between test executables </span>
+ <span class="c1">// and openpass libraries can be resolved by linking text executables to</span>
+ <span class="c1">// openpass install directory</span>
+ <span class="c1">// Alternative: Check dependencies of test executables by 'ldd <_Tests.exe> and copy </span>
+ <span class="c1">// libraries right next to test executable within build direcory</span>
+ <span class="s2">"testMate.cpp.test.advancedExecutables"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="p">{</span>
+ <span class="s2">"pattern"</span><span class="o">:</span> <span class="s2">"build/**/*{tests,Tests,TESTS}*"</span><span class="p">,</span>
+ <span class="s2">"env"</span><span class="o">:</span> <span class="p">{</span>
+ <span class="s2">"Path"</span><span class="o">:</span> <span class="s2">"C:\\msys64\\mingw64\\bin;C:\\OpenPASS\\bin\\core;C:\\OpenPASS\\bin\\core\\lib;${os_env:PATH};${workspaceFolder}\\deps\\thirdParty\\win64\\FMILibrary\\lib;${workspaceFolder}\\deps\\thirdParty\\win64\\osi\\lib\\osi3"</span>
+ <span class="p">}</span>
+ <span class="p">}</span>
+ <span class="p">],</span>
+ <span class="c1">//</span>
+ <span class="c1">// VSCODE</span>
+ <span class="c1">//</span>
+ <span class="c1">// Optional: Integration of MinGW64 Terminal in VS Code</span>
+ <span class="s2">"terminal.integrated.profiles.windows"</span><span class="o">:</span> <span class="p">{</span>
+ <span class="s2">"MinGW64"</span><span class="o">:</span> <span class="p">{</span>
+ <span class="s2">"overrideName"</span><span class="o">:</span> <span class="kc">true</span><span class="p">,</span>
+ <span class="s2">"path"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="s2">"C:\\msys64\\usr\\bin\\bash.exe"</span>
+ <span class="p">],</span>
+ <span class="s2">"args"</span><span class="o">:</span> <span class="p">[</span><span class="s2">"--login"</span><span class="p">,</span> <span class="s2">"-i"</span><span class="p">],</span>
+ <span class="s2">"icon"</span><span class="o">:</span> <span class="s2">"terminal-bash"</span><span class="p">,</span>
+ <span class="s2">"env"</span><span class="o">:</span> <span class="p">{</span>
+ <span class="s2">"MSYSTEM"</span><span class="o">:</span> <span class="s2">"MINGW64"</span><span class="p">,</span>
+ <span class="s2">"CHERE_INVOKING"</span><span class="o">:</span> <span class="s2">"1"</span><span class="p">,</span>
+ <span class="s2">"MSYS2_PATH_TYPE"</span><span class="o">:</span> <span class="s2">"inherit"</span>
+ <span class="p">}</span>
+ <span class="p">}</span>
+ <span class="p">},</span>
+ <span class="s2">"terminal.integrated.defaultProfile.windows"</span><span class="o">:</span> <span class="s2">"MinGW64"</span><span class="p">,</span>
+ <span class="c1">// Enforce usage of .clang-format of modified code</span>
+ <span class="s2">"editor.formatOnSave"</span><span class="o">:</span> <span class="kc">true</span><span class="p">,</span>
+ <span class="s2">"editor.formatOnSaveMode"</span><span class="o">:</span> <span class="s2">"modifications"</span>
+<span class="p">}</span>
+</pre></div>
+</td></tr></table></div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/cf3a708e6048855aab4490b408d22f7c/settings.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id4">
+<div class="code-block-caption"><span class="caption-text">settings.json</span><a class="headerlink" href="#id4" title="Permalink to this code">¶</a></div>
+<div class="highlight-javascript notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal"> 1</span>
+<span class="normal"> 2</span>
+<span class="normal"> 3</span>
+<span class="normal"> 4</span>
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+<span class="normal">34</span></pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="p">{</span>
+ <span class="c1">//</span>
+ <span class="c1">// CMAKE</span>
+ <span class="c1">//</span>
+ <span class="c1">// Optional: Adjust to your needs</span>
+ <span class="s2">"cmake.parallelJobs"</span><span class="o">:</span> <span class="mf">4</span><span class="p">,</span>
+ <span class="c1">// See openPASS documentation for individual WITH_* settings</span>
+ <span class="s2">"cmake.configureArgs"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="s2">"-DCMAKE_INSTALL_PREFIX=/openPASS/bin/core"</span><span class="p">,</span>
+ <span class="c1">// Adjust paths depending on your system</span>
+ <span class="s2">"-DCMAKE_PREFIX_PATH=${workspaceRoot}/deps/thirdParty/linux64/FMILibrary;${workspaceRoot}/deps/thirdParty/linux64/osi;${workspaceRoot}/deps/thirdParty/linux64/minizip"</span><span class="p">,</span>
+ <span class="s2">"-DUSE_CCACHE=ON"</span><span class="p">,</span>
+ <span class="s2">"-DWITH_GUI=OFF"</span><span class="p">,</span>
+ <span class="s2">"-DWITH_SIMCORE=ON"</span><span class="p">,</span>
+ <span class="s2">"-DWITH_TESTS=ON"</span><span class="p">,</span>
+ <span class="s2">"-DWITH_DOC=OFF"</span><span class="p">,</span>
+ <span class="c1">// For integration with IntelliSense (see c_cpp_properties.json)</span>
+ <span class="s2">"-DCMAKE_EXPORT_COMPILE_COMMANDS=ON"</span>
+ <span class="p">],</span>
+ <span class="c1">//</span>
+ <span class="c1">// TESTMATE</span>
+ <span class="c1">//</span>
+ <span class="c1">// Optional: Adjust to your needs</span>
+ <span class="s2">"testMate.cpp.test.parallelExecutionLimit"</span><span class="o">:</span> <span class="mf">4</span><span class="p">,</span>
+ <span class="s2">"testMate.cpp.test.parallelExecutionOfExecutableLimit"</span><span class="o">:</span> <span class="mf">2</span><span class="p">,</span>
+ <span class="c1">// Optional: Set, if you like to debug test discovery and test start issues</span>
+ <span class="s2">"testMate.cpp.log.logfile"</span><span class="o">:</span> <span class="s2">"/tmp/cpp.testmate.log"</span><span class="p">,</span>
+ <span class="c1">//</span>
+ <span class="c1">// VSCODE</span>
+ <span class="c1">//</span>
+ <span class="c1">// Enforce usage of .clang-format of modified code</span>
+ <span class="s2">"editor.formatOnSave"</span><span class="o">:</span> <span class="kc">true</span><span class="p">,</span>
+ <span class="s2">"editor.formatOnSaveMode"</span><span class="o">:</span> <span class="s2">"modifications"</span>
+<span class="p">}</span>
+</pre></div>
+</td></tr></table></div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/631d97fb2e9fb8f8491268ef3e6ec616/settings.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</div></div>
+</li>
+</ol>
+</div>
+<div class="section" id="c-and-intellisense">
+<h3>C++ and IntelliSense<a class="headerlink" href="#c-and-intellisense" title="Permalink to this headline">¶</a></h3>
+<ol class="arabic">
+<li><p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">C/C++:</span> <span class="pre">Edit</span> <span class="pre">Configurations</span> <span class="pre">(JSON)</span></code></p></li>
+<li><div class="literal-block-wrapper docutils container" id="id5">
+<div class="code-block-caption"><span class="caption-text">c_cpp_properties.json</span><a class="headerlink" href="#id5" title="Permalink to this code">¶</a></div>
+<div class="highlight-javascript notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal"> 1</span>
+<span class="normal"> 2</span>
+<span class="normal"> 3</span>
+<span class="normal"> 4</span>
+<span class="normal"> 5</span>
+<span class="normal"> 6</span>
+<span class="normal"> 7</span>
+<span class="normal"> 8</span>
+<span class="normal"> 9</span>
+<span class="normal">10</span>
+<span class="normal">11</span>
+<span class="normal">12</span>
+<span class="normal">13</span></pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="p">{</span>
+ <span class="s2">"configurations"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="p">{</span>
+ <span class="s2">"name"</span><span class="o">:</span> <span class="s2">"simopenpass"</span><span class="p">,</span>
+ <span class="s2">"cStandard"</span><span class="o">:</span> <span class="s2">"c99"</span><span class="p">,</span>
+ <span class="s2">"cppStandard"</span><span class="o">:</span> <span class="s2">"c++17"</span><span class="p">,</span>
+ <span class="s2">"configurationProvider"</span><span class="o">:</span> <span class="s2">"ms-vscode.cmake-tools"</span><span class="p">,</span>
+ <span class="s2">"compileCommands"</span><span class="o">:</span> <span class="s2">"${workspaceFolder}/build/compile_commands.json"</span><span class="p">,</span>
+ <span class="s2">"intelliSenseMode"</span><span class="o">:</span> <span class="s2">"linux-gcc-x64"</span>
+ <span class="p">}</span>
+ <span class="p">],</span>
+ <span class="s2">"version"</span><span class="o">:</span> <span class="mf">4</span>
+<span class="p">}</span>
+</pre></div>
+</td></tr></table></div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/dca649c6abf7935b694a9b820bb4efc5/c_cpp_properties.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</li>
+</ol>
+</div>
+<div class="section" id="configure-the-build">
+<h3>Configure the Build<a class="headerlink" href="#configure-the-build" title="Permalink to this headline">¶</a></h3>
+<p>Execute <code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Configure</span></code></p>
+<p>CMake should now be able to configure the project.
+If not, cmake should give you at least a hint, what’s missing (normally external libraries).
+Read <a class="reference internal" href="../../installation_guide/further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> or <a class="reference internal" href="../../installation_guide/20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a> for more information.</p>
+<div class="admonition-cmake admonition">
+<p class="admonition-title">CMake</p>
+<p>Some changes such as changing the build type (Debug/Release) will cause CMake to updates the configuration automatically.
+Other changes won’t trigger an update, such as changing the paths to libraries (<cite>CMAKE_PREFIX_PATH</cite>), the cmake cache needs to be cleared before reconfiguration:
+<code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code> > <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Delete</span> <span class="pre">Cache</span> <span class="pre">and</span> <span class="pre">Reconfigure</span></code></p>
+</div>
+</div>
+<div class="section" id="debug-targets">
+<h3>Debug Targets<a class="headerlink" href="#debug-targets" title="Permalink to this headline">¶</a></h3>
+<p>CMake Tools and C++ Testmate automatically use custom launch configurations, if available.
+When using the debugging functionality, the according executable will be executed from where they are built (per default inside the <code class="docutils literal notranslate"><span class="pre">build</span></code> folder).</p>
+<ul>
+<li><p>This is acceptable for unit test, which do not require openPASS specific libraries.
+The corresponding config is <code class="docutils literal notranslate"><span class="pre">CMake</span> <span class="pre">Target</span></code>.</p></li>
+<li><p>For the core, located at <code class="docutils literal notranslate"><span class="pre">./build/sim/src/core/opSimulation/opSimulation</span></code>, this does not work, as no libraries and no configurations are available.
+As a solution, a second debug target <code class="docutils literal notranslate"><span class="pre">opsimulation</span></code> points at the installed executable instead.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Don’t forget to run the target <code class="docutils literal notranslate"><span class="pre">install</span></code> before debugging .</p>
+</div>
+</li>
+</ul>
+<ol class="arabic simple">
+<li><p>Got to “Run and Debug” (<code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+D</span></code>) and <em>create a launch.json file</em>.</p></li>
+<li><p>Insert/Update:</p></li>
+</ol>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-2-2-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-2-2-0" name="2-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-2-2-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-2-2-1" name="2-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-2-2-0" class="sphinx-tabs-panel" id="panel-2-2-0" name="2-0" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id6">
+<div class="code-block-caption"><span class="caption-text">launch.json</span><a class="headerlink" href="#id6" title="Permalink to this code">¶</a></div>
+<div class="highlight-javascript notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal"> 1</span>
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+<span class="normal">57</span></pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="p">{</span>
+ <span class="s2">"version"</span><span class="o">:</span> <span class="s2">"0.2.0"</span><span class="p">,</span>
+ <span class="s2">"configurations"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="p">{</span>
+ <span class="c1">// FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)</span>
+ <span class="s2">"name"</span><span class="o">:</span> <span class="s2">"CMake Target"</span><span class="p">,</span>
+ <span class="s2">"type"</span><span class="o">:</span> <span class="s2">"cppdbg"</span><span class="p">,</span>
+ <span class="s2">"request"</span><span class="o">:</span> <span class="s2">"launch"</span><span class="p">,</span>
+ <span class="s2">"program"</span><span class="o">:</span> <span class="s2">"${command:cmake.launchTargetPath}"</span><span class="p">,</span>
+ <span class="s2">"args"</span><span class="o">:</span> <span class="p">[],</span>
+ <span class="s2">"stopAtEntry"</span><span class="o">:</span> <span class="kc">false</span><span class="p">,</span>
+ <span class="s2">"cwd"</span><span class="o">:</span> <span class="s2">"${workspaceFolder}"</span><span class="p">,</span>
+ <span class="s2">"environment"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="p">{</span>
+ <span class="s2">"name"</span><span class="o">:</span> <span class="s2">"PATH"</span><span class="p">,</span>
+ <span class="s2">"value"</span><span class="o">:</span> <span class="s2">"$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}"</span>
+ <span class="p">}</span>
+ <span class="p">],</span>
+ <span class="s2">"externalConsole"</span><span class="o">:</span> <span class="kc">false</span><span class="p">,</span>
+ <span class="s2">"MIMode"</span><span class="o">:</span> <span class="s2">"gdb"</span><span class="p">,</span>
+ <span class="s2">"miDebuggerPath"</span><span class="o">:</span> <span class="s2">"${command:cmake.buildkit.gdb.exe}"</span><span class="p">,</span>
+ <span class="s2">"setupCommands"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="p">{</span>
+ <span class="s2">"description"</span><span class="o">:</span> <span class="s2">"Enable pretty-printing for gdb"</span><span class="p">,</span>
+ <span class="s2">"text"</span><span class="o">:</span> <span class="s2">"-enable-pretty-printing"</span><span class="p">,</span>
+ <span class="s2">"ignoreFailures"</span><span class="o">:</span> <span class="kc">true</span>
+ <span class="p">}</span>
+ <span class="p">]</span>
+ <span class="p">},</span>
+ <span class="p">{</span>
+ <span class="c1">// FOR DEBUGGING opSimulation (DON'T FORGET TO CALL make install)</span>
+ <span class="s2">"name"</span><span class="o">:</span> <span class="s2">"opsimulation"</span><span class="p">,</span>
+ <span class="s2">"type"</span><span class="o">:</span> <span class="s2">"cppdbg"</span><span class="p">,</span>
+ <span class="s2">"request"</span><span class="o">:</span> <span class="s2">"launch"</span><span class="p">,</span>
+ <span class="s2">"program"</span><span class="o">:</span> <span class="s2">"C:\\OpenPASS\\bin\\core\\opSimulation.exe"</span><span class="p">,</span>
+ <span class="s2">"args"</span><span class="o">:</span> <span class="p">[],</span>
+ <span class="s2">"stopAtEntry"</span><span class="o">:</span> <span class="kc">false</span><span class="p">,</span>
+ <span class="s2">"cwd"</span><span class="o">:</span> <span class="s2">"C:\\OpenPASS\\bin\\core"</span><span class="p">,</span>
+ <span class="s2">"environment"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="p">{</span>
+ <span class="s2">"name"</span><span class="o">:</span> <span class="s2">"PATH"</span><span class="p">,</span>
+ <span class="s2">"value"</span><span class="o">:</span> <span class="s2">"$PATH:${command:msys2.root}\\bin;${command:mingw64.root}\\x86_64-w64-mingw32\\lib${command:cmake.buildkit.launch.path}"</span>
+ <span class="p">}</span>
+ <span class="p">],</span>
+ <span class="s2">"externalConsole"</span><span class="o">:</span> <span class="kc">false</span><span class="p">,</span>
+ <span class="s2">"MIMode"</span><span class="o">:</span> <span class="s2">"gdb"</span><span class="p">,</span>
+ <span class="s2">"miDebuggerPath"</span><span class="o">:</span> <span class="s2">"${command:cmake.buildkit.gdb.exe}"</span><span class="p">,</span>
+ <span class="s2">"setupCommands"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="p">{</span>
+ <span class="s2">"description"</span><span class="o">:</span> <span class="s2">"Enable pretty-printing for gdb"</span><span class="p">,</span>
+ <span class="s2">"text"</span><span class="o">:</span> <span class="s2">"-enable-pretty-printing"</span><span class="p">,</span>
+ <span class="s2">"ignoreFailures"</span><span class="o">:</span> <span class="kc">true</span>
+ <span class="p">}</span>
+ <span class="p">]</span>
+ <span class="p">}</span>
+ <span class="p">]</span>
+<span class="p">}</span>
+</pre></div>
+</td></tr></table></div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/29dd021e0bdb423fc1a0b9b1d8df02f7/launch.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</div><div aria-labelledby="tab-2-2-1" class="sphinx-tabs-panel" hidden="true" id="panel-2-2-1" name="2-1" role="tabpanel" tabindex="0"><div class="literal-block-wrapper docutils container" id="id7">
+<div class="code-block-caption"><span class="caption-text">launch.json</span><a class="headerlink" href="#id7" title="Permalink to this code">¶</a></div>
+<div class="highlight-javascript notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal"> 1</span>
+<span class="normal"> 2</span>
+<span class="normal"> 3</span>
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+<span class="normal">42</span>
+<span class="normal">43</span></pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="p">{</span>
+ <span class="s2">"version"</span><span class="o">:</span> <span class="s2">"0.2.0"</span><span class="p">,</span>
+ <span class="s2">"configurations"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="p">{</span>
+ <span class="c1">// FOR TESTMATE (SELECTED TEST) AND CMAKE (DEBUG CMAKE TARGET)</span>
+ <span class="s2">"name"</span><span class="o">:</span> <span class="s2">"CMake Target"</span><span class="p">,</span>
+ <span class="s2">"type"</span><span class="o">:</span> <span class="s2">"cppdbg"</span><span class="p">,</span>
+ <span class="s2">"request"</span><span class="o">:</span> <span class="s2">"launch"</span><span class="p">,</span>
+ <span class="s2">"program"</span><span class="o">:</span> <span class="s2">"${command:cmake.launchTargetPath}"</span><span class="p">,</span>
+ <span class="s2">"args"</span><span class="o">:</span> <span class="p">[],</span>
+ <span class="s2">"stopAtEntry"</span><span class="o">:</span> <span class="kc">false</span><span class="p">,</span>
+ <span class="s2">"cwd"</span><span class="o">:</span> <span class="s2">"${workspaceFolder}"</span><span class="p">,</span>
+ <span class="s2">"externalConsole"</span><span class="o">:</span> <span class="kc">false</span><span class="p">,</span>
+ <span class="s2">"MIMode"</span><span class="o">:</span> <span class="s2">"gdb"</span><span class="p">,</span>
+ <span class="s2">"setupCommands"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="p">{</span>
+ <span class="s2">"description"</span><span class="o">:</span> <span class="s2">"Enable pretty-printing for gdb"</span><span class="p">,</span>
+ <span class="s2">"text"</span><span class="o">:</span> <span class="s2">"-enable-pretty-printing"</span><span class="p">,</span>
+ <span class="s2">"ignoreFailures"</span><span class="o">:</span> <span class="kc">true</span>
+ <span class="p">}</span>
+ <span class="p">]</span>
+ <span class="p">},</span>
+ <span class="p">{</span>
+ <span class="c1">// FOR DEBUGGING opSimulation (DON'T FORGET TO CALL make install)</span>
+ <span class="s2">"name"</span><span class="o">:</span> <span class="s2">"opsimulation"</span><span class="p">,</span>
+ <span class="s2">"type"</span><span class="o">:</span> <span class="s2">"cppdbg"</span><span class="p">,</span>
+ <span class="s2">"request"</span><span class="o">:</span> <span class="s2">"launch"</span><span class="p">,</span>
+ <span class="s2">"program"</span><span class="o">:</span> <span class="s2">"/openPASS/bin/core/opSimulation"</span><span class="p">,</span>
+ <span class="s2">"args"</span><span class="o">:</span> <span class="p">[],</span>
+ <span class="s2">"stopAtEntry"</span><span class="o">:</span> <span class="kc">false</span><span class="p">,</span>
+ <span class="s2">"cwd"</span><span class="o">:</span> <span class="s2">"/openPASS/bin/core/"</span><span class="p">,</span>
+ <span class="s2">"externalConsole"</span><span class="o">:</span> <span class="kc">false</span><span class="p">,</span>
+ <span class="s2">"MIMode"</span><span class="o">:</span> <span class="s2">"gdb"</span><span class="p">,</span>
+ <span class="s2">"setupCommands"</span><span class="o">:</span> <span class="p">[</span>
+ <span class="p">{</span>
+ <span class="s2">"description"</span><span class="o">:</span> <span class="s2">"Enable pretty-printing for gdb"</span><span class="p">,</span>
+ <span class="s2">"text"</span><span class="o">:</span> <span class="s2">"-enable-pretty-printing"</span><span class="p">,</span>
+ <span class="s2">"ignoreFailures"</span><span class="o">:</span> <span class="kc">true</span>
+ <span class="p">}</span>
+ <span class="p">]</span>
+ <span class="p">}</span>
+ <span class="p">]</span>
+<span class="p">}</span>
+</pre></div>
+</td></tr></table></div>
+</div>
+<p><a class="reference download internal" download="" href="../../_downloads/f717c80213b149820a0dc8e07e803940/launch.json"><code class="xref download docutils literal notranslate"><span class="pre">Download</span></code></a></p>
+</div></div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>IntelliSense uses the <code class="docutils literal notranslate"><span class="pre">compile_commands.json</span></code> of generated through <code class="docutils literal notranslate"><span class="pre">CMAKE_EXPORT_COMPILE_COMMANDS=ON</span></code> (see <code class="docutils literal notranslate"><span class="pre">settings.json</span></code>).
+This is necessary for proper resolution of the include files.</p>
+</div>
+</div>
+</div>
+<div class="section" id="troubleshooting">
+<h2>Troubleshooting<a class="headerlink" href="#troubleshooting" title="Permalink to this headline">¶</a></h2>
+<p><img alt="win_only" src="../../_images/win_only.png" /> <strong>Program does not start</strong></p>
+<p>The most effective way to debug startup issues is by means of the <a class="reference external" href="https://docs.microsoft.com/en-us/sysinternals/downloads/procmon">Process Monitor</a>.</p>
+<p>But normally, its a missing DLL. When executing the program via command line or explorer a message box should prompt which DLLs are missing.
+A simple solution is to copy the according DLLs into the folder of the executable.
+Another solution is to make the path available by extending the <code class="docutils literal notranslate"><span class="pre">PATH</span></code> environment variable.
+Potential sources for missing DLLs are <code class="docutils literal notranslate"><span class="pre">C:\msys64\mingw64\bin</span></code>, <code class="docutils literal notranslate"><span class="pre">C:\msys64\mingw64\x86_64-w64-mingw32\lib</span></code>, and the <code class="docutils literal notranslate"><span class="pre">build</span></code> folder itself.</p>
+<p><strong>Tests are not listed</strong></p>
+<p>For test discovery, C++ Testmate needs to know the location of all additional dependencies.
+This information is retrieved from the current debug configuration.</p>
+<ol class="arabic simple">
+<li><p>Testmate discovers tests only after they are built.
+It pays to <code class="docutils literal notranslate"><span class="pre">Run</span> <span class="pre">CTest</span></code> to build all test targets.
+After this, you should see all tests in the testing pane on the left.</p></li>
+<li><p>Still not listed? Set <code class="docutils literal notranslate"><span class="pre">testMate.cpp.log.logfile</span></code> in <code class="docutils literal notranslate"><span class="pre">settings.json</span></code> and check log.</p>
+<ol class="arabic simple">
+<li><p>Test executable not mentioned at all:
+Executable name might not fit (check glob pattern in <code class="docutils literal notranslate"><span class="pre">testMate.cpp.test.executables</span></code>).</p></li>
+<li><p>Log reports <em>Error: Not a supported test executable</em>: a library/DLL might be missing.</p></li>
+</ol>
+</li>
+</ol>
+</div>
+</div>
+
+
+ </div>
+
+ </div>
+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+ <a href="../20_documentation.html" class="btn btn-neutral float-right" title="Documentation Concept" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+ <a href="20_qt_creator.html" class="btn btn-neutral float-left" title="Working with Qt Creator" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+ </div>
+
+ <hr/>
+
+ <div role="contentinfo">
+ <p>
+ © Copyright 2021 OpenPASS Working Group.
+
+ </p>
+ </div>
+
+
+
+ Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+
+ <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+
+ provided by <a href="https://readthedocs.org">Read the Docs</a>.
+
+</footer>
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+ jQuery(function () {
+ SphinxRtdTheme.Navigation.enable(true);
+ });
+ </script>
+
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+</body>
+</html>
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diff --git a/content/html/genindex.html b/content/html/genindex.html
index 84f60eb..879f7cb 100644
--- a/content/html/genindex.html
+++ b/content/html/genindex.html
@@ -1,334 +1,343 @@
-
-
-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
- <meta charset="utf-8" />
-
- <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-
- <title>Index — OpenPASS Documentation</title>
-
-
-
- <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
- <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
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- <link rel="stylesheet" href="_static/tabs.css" type="text/css" />
- <link rel="stylesheet" href="_static/css/custom.css" type="text/css" />
-
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- <link rel="shortcut icon" href="_static/openPASS.ico"/>
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- <script src="_static/js/html5shiv.min.js"></script>
- <![endif]-->
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- <script src="_static/tabs.js"></script>
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- <link rel="index" title="Index" href="#" />
- <link rel="search" title="Search" href="search.html" />
-</head>
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-<body class="wy-body-for-nav">
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+<li class="toctree-l1"><a class="reference internal" href="developer_information/10_ide_support.html">IDE Support</a></li>
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+ | <a href="#C"><strong>C</strong></a>
+ | <a href="#D"><strong>D</strong></a>
+ | <a href="#M"><strong>M</strong></a>
+ | <a href="#O"><strong>O</strong></a>
+ | <a href="#P"><strong>P</strong></a>
+ | <a href="#S"><strong>S</strong></a>
+ | <a href="#T"><strong>T</strong></a>
+
+</div>
+<h2 id="A">A</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-ADAS"><strong>ADAS</strong></a>
+</li>
+ </ul></td>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-AEB"><strong>AEB</strong></a>
+</li>
+ </ul></td>
+</tr></table>
+
+<h2 id="C">C</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-Channel"><strong>Channel</strong></a>
+</li>
+ </ul></td>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-COG"><strong>COG</strong></a>
+</li>
+ <li><a href="other_information/20_glossary.html#term-Component"><strong>Component</strong></a>
+</li>
+ </ul></td>
+</tr></table>
+
+<h2 id="D">D</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-Dynamics"><strong>Dynamics</strong></a>
+</li>
+ </ul></td>
+</tr></table>
+
+<h2 id="M">M</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-MinGW"><strong>MinGW</strong></a>
+</li>
+ <li><a href="other_information/20_glossary.html#term-Model"><strong>Model</strong></a>
+</li>
+ </ul></td>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-Module"><strong>Module</strong></a>
+</li>
+ <li><a href="other_information/20_glossary.html#term-MSYS"><strong>MSYS</strong></a>
+</li>
+ <li><a href="other_information/20_glossary.html#term-MSYS2"><strong>MSYS2</strong></a>
+</li>
+ </ul></td>
+</tr></table>
+
+<h2 id="O">O</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-OD"><strong>OD</strong></a>
+</li>
+ </ul></td>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-openPASS"><strong>openPASS</strong></a>
+</li>
+ <li><a href="other_information/20_glossary.html#term-OSI"><strong>OSI</strong></a>
+</li>
+ </ul></td>
+</tr></table>
+
+<h2 id="P">P</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-PreCASE"><strong>PreCASE</strong></a>
+</li>
+ </ul></td>
+</tr></table>
+
+<h2 id="S">S</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-Scenario"><strong>Scenario</strong></a>
+</li>
+ </ul></td>
+</tr></table>
+
+<h2 id="T">T</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%; vertical-align: top;"><ul>
+ <li><a href="other_information/20_glossary.html#term-TTC"><strong>TTC</strong></a>
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diff --git a/content/html/index.html b/content/html/index.html
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-<li class="toctree-l1"><a class="reference internal" href="installation_guide/21_pcm_installation_guide.html">PCM Installation Guide</a></li>
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- <div class="section" id="openpass-documentation">
-<h1>OpenPASS Documentation<a class="headerlink" href="#openpass-documentation" title="Permalink to this headline">¶</a></h1>
-<p>The OpenPASS (Open Platform for Assessment of Safety Systems) tool is a developed framework for the simulation of interaction between traffic participants to evaluate and parametrize active safety systems.
-The simulation is based on a specific situation configuration and can contain several simulation runs, which differ due to random parameters.</p>
-<p>The software suite of openPASS started as a set of stand-alone applications, which can be installed and configured individually.
-Over time, especially the graphical user interface evolved to a single entry point, enabling the average user to use openPASS as a “monolithic” tool.</p>
-<p>This guide contains information about installation, configuration and usage of all tools in the <strong>OpenPASS</strong> environment.</p>
-<div class="toctree-wrapper compound">
-<p class="caption"><span class="caption-text">Installation Guides</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="installation_guide/10_gui_installation_guide.html">GUI Installation Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="installation_guide/20_sim_installation_guide.html">Simulation Installation Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="installation_guide/21_pcm_installation_guide.html">PCM Installation Guide</a></li>
-</ul>
-</div>
-<p>The GUI lets the user configure the simulation and generate configuration files from all set parameters.
-Based on these the simulation core calculates different simulation runs and compiles trace files for further processing.</p>
-<div class="toctree-wrapper compound">
-<p class="caption"><span class="caption-text">User Guides</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="user_guide/10_gui_user_guide.html">GUI User Guide</a></li>
-<li class="toctree-l1"><a class="reference internal" href="user_guide/20_sim_user_guide.html">Simulation User Guide</a></li>
-</ul>
-</div>
-<div class="toctree-wrapper compound">
-<p class="caption"><span class="caption-text">Advanced topics</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="advanced_topics/10_documentation.html">Documentation Concept</a></li>
-<li class="toctree-l1"><a class="reference internal" href="advanced_topics/20_simulator_advanced.html">Simulator</a></li>
-</ul>
-</div>
-<div class="toctree-wrapper compound">
-<p class="caption"><span class="caption-text">Other Information</span></p>
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="glossary.html">Glossary</a></li>
-<li class="toctree-l1"><a class="reference internal" href="license.html">License</a></li>
-</ul>
-</div>
-</div>
-<div class="section" id="todolist">
-<h1>Todolist<a class="headerlink" href="#todolist" title="Permalink to this headline">¶</a></h1>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Add GUI installation guide.</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="installation_guide/10_gui_installation_guide.html#id1"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/installation_guide/10_gui_installation_guide.rst, line 15.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Add PCM installation guide.</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="installation_guide/21_pcm_installation_guide.html#id1"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/installation_guide/21_pcm_installation_guide.rst, line 15.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Create GUI user guide</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/10_gui_user_guide.html#id2"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/user_guide/10_gui_user_guide.rst, line 17.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Move Inputs, Outputs, and Components to their own master section</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/20_sim_user_guide.html#id1"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/user_guide/20_sim_user_guide.rst, line 153.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>The configuration is still “itchy”, as Qt creator changes the interface with every version</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="installation_guide/sim_installation_guide/ides/20_qt_creator.html#id1"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/installation_guide/sim_installation_guide/ides/20_qt_creator.rst, line 71.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>The configuration is still “itchy”, as Qt creator changes the interface with every version</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="installation_guide/sim_installation_guide/ides/20_qt_creator.html#id3"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/installation_guide/sim_installation_guide/ides/20_qt_creator.rst, line 99.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Check description of Delta</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/sim_user_guide/components/driver.html#id1"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/user_guide/sim_user_guide/components/driver.rst, line 46.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Add basic example</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/sim_user_guide/examples/basic.html#id1"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/user_guide/sim_user_guide/examples/basic.rst, line 15.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>In what way do scenario agents deviate from the standard?</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/sim_user_guide/input/scenario.html#id2"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/user_guide/sim_user_guide/input/scenario.rst, line 152.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>What is an EntitySelection?</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/sim_user_guide/input/scenario.html#id3"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/user_guide/sim_user_guide/input/scenario.rst, line 158.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Write a paragraph about the concept “Trajectories, OSC Actions, and so” in the developer zone.</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/sim_user_guide/input/scenario.html#id4"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/user_guide/sim_user_guide/input/scenario.rst, line 580.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Write a paragraph in the developer zone about the concept “wrapping FMUs” and the “OSMP FMU”</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/sim_user_guide/input/scenario.html#id5"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/user_guide/sim_user_guide/input/scenario.rst, line 755.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>Write a paragraph in the developer zone about the concept “Component State Change”</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/sim_user_guide/input/scenario.html#id6"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/user_guide/sim_user_guide/input/scenario.rst, line 786.)</p>
-<div class="admonition-todo admonition">
-<p class="admonition-title">Todo</p>
-<p>The concept Cyclics and the DataStore needs further explanation.
-We also need a way to better communicate, who is publishing what.
-This should directly come out of the source code, to keep the documentation up to date.</p>
-</div>
-<p class="todo-source">(The <a class="reference internal" href="user_guide/sim_user_guide/output/observation_log.html#id2"><em>original entry</em></a> is located in /home/cloud/simopenpass/build/doc/source/user_guide/sim_user_guide/output/observation_log.rst, line 58.)</p>
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+<li class="toctree-l1"><a class="reference internal" href="installation_guide/30_install_openpass.html">Installing OpenPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/60_conan.html">Building with Conan</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="user_guide/50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="user_guide/60_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
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+ <div class="section" id="openpass-documentation">
+<h1>OpenPASS Documentation<a class="headerlink" href="#openpass-documentation" title="Permalink to this headline">¶</a></h1>
+<p>The OpenPASS (Open Platform for Assessment of Safety Systems) tool is a developed framework for the simulation of interaction between traffic participants to evaluate and parametrize active safety systems.
+The simulation is based on a specific situation configuration and can contain several simulation runs, which differ due to random parameters.</p>
+<p>The software suite of openPASS started as a set of stand-alone applications, which can be installed and configured individually.
+Over time, especially the graphical user interface evolved to a single entry point, enabling the average user to use openPASS as a “monolithic” tool.</p>
+<p>This guide contains information about installation, configuration and usage of all tools in the <strong>OpenPASS</strong> environment.</p>
+<div class="toctree-wrapper compound">
+<p class="caption"><span class="caption-text">Installation Guide</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/10_getting_started.html">Getting Started</a></li>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/30_install_openpass.html">Installing OpenPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+</div>
+<p>The GUI lets the user configure the simulation and generate configuration files from all set parameters.
+Based on these the simulation core calculates different simulation runs and compiles trace files for further processing.</p>
+<div class="toctree-wrapper compound">
+<p class="caption"><span class="caption-text">User Guides</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="user_guide/10_overview.html">Overview</a></li>
+<li class="toctree-l1"><a class="reference internal" href="user_guide/20_tutorials.html">Tutorials</a></li>
+<li class="toctree-l1"><a class="reference internal" href="user_guide/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="user_guide/40_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="user_guide/50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="user_guide/60_scenario_simulation.html">Simulator</a></li>
+</ul>
+</div>
+<div class="toctree-wrapper compound">
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+</div>
+<div class="toctree-wrapper compound">
+<p class="caption"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="developer_information/20_documentation.html">Documentation Concept</a></li>
+</ul>
+</div>
+<div class="toctree-wrapper compound">
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="other_information/30_license.html">License</a></li>
+</ul>
+</div>
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+
+
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+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
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+ </div>
+
+ <hr/>
+
+ <div role="contentinfo">
+ <p>
+ © Copyright 2021 OpenPASS Working Group.
+
+ </p>
+ </div>
+
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\ No newline at end of file
diff --git a/content/html/installation_guide/10_getting_started.html b/content/html/installation_guide/10_getting_started.html
new file mode 100644
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--- /dev/null
+++ b/content/html/installation_guide/10_getting_started.html
@@ -0,0 +1,270 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+ <meta charset="utf-8" />
+
+ <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+
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+<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/60_scenario_simulation.html">Simulator</a></li>
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+ <div class="section" id="getting-started">
+<span id="sim-install-guide"></span><h1>Getting Started<a class="headerlink" href="#getting-started" title="Permalink to this headline">¶</a></h1>
+<p>Your first step to get <strong>openPASS</strong> up and running is the installation. You can install the <strong>openPASS</strong> simulator on Windows and Linux.</p>
+<p>The installation manual is structured as follows:</p>
+<p><strong>Setting up your system</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a> contains instructions for installing the thirdparty software required by <strong>openPASS</strong></p></li>
+</ul>
+<p><strong>Installation of the simulator</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="30_install_openpass.html#download-and-install-openpass"><span class="std std-ref">Installing OpenPASS</span></a> describes how to compile and run <strong>openPASS</strong> once all prerequisites are installed</p></li>
+</ul>
+<p><strong>Run a default simulation</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="../user_guide/20_tutorials.html#tutorials"><span class="std std-ref">Tutorials</span></a> shows how to run your first simulations</p></li>
+</ul>
+<p><strong>Further guidance</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> holds information about available variables and options for the cross-platform build environment CMake</p></li>
+<li><p><a class="reference internal" href="../developer_information/ide_support/20_qt_creator.html#qtcreator"><span class="std std-ref">Working with Qt Creator</span></a> describes the basic setup for QtCreator</p></li>
+<li><p><a class="reference internal" href="../developer_information/ide_support/30_vscode.html#vscode"><span class="std std-ref">Working with Visual Studio Code</span></a> describes the basic setup for Visual Studio Code</p></li>
+<li><p><a class="reference internal" href="further_guidance/40_custom_proto.html#building-protobuf"><span class="std std-ref">Custom Protobuf Build</span></a> shows how to compile different versions of Protobuf and hook it into the <strong>openPASS</strong> build</p></li>
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deleted file mode 100644
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-<h1>GUI Installation Guide<a class="headerlink" href="#gui-installation-guide" title="Permalink to this headline">¶</a></h1>
-<div class="admonition-todo admonition" id="id1">
-<p class="admonition-title">Todo</p>
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new file mode 100644
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+<ul class="current">
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+<li class="toctree-l1 current"><a class="current reference internal" href="#">Installing Prerequisites</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#installing-the-build-environment">Installing the Build Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#installing-the-binary-packages">Installing the Binary Packages</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#installing-the-source-packages">Installing the Source Packages</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#location-of-installed-source-packages">Location Of Installed Source Packages</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#build-and-install-osi">Build and Install OSI</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#build-and-install-fmil">Build and Install FMIL</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="30_install_openpass.html">Installing OpenPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption"><span class="caption-text">User Guides</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/10_overview.html">Overview</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/20_tutorials.html">Tutorials</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/40_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/60_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
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+<p class="caption"><span class="caption-text">Developer Information</span></p>
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+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul>
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+ <div class="section" id="installing-prerequisites">
+<span id="prerequisites"></span><h1>Installing Prerequisites<a class="headerlink" href="#installing-prerequisites" title="Permalink to this headline">¶</a></h1>
+<p>Before being able to compile and run <strong>openPASS</strong>, make sure to have all dependencies installed.
+The third party software dependency of <strong>openPASS</strong> can be divided into:</p>
+<ul class="simple">
+<li><p><strong>Build environment</strong>, which manages third party software and is used to compile and install <strong>openPASS</strong></p></li>
+<li><p><strong>Binary packages</strong>, which can be easily installed via a package manager of the respective build environment</p></li>
+<li><p><strong>Source packages</strong>, which need to be built from source code</p></li>
+</ul>
+<p>This section gives detailed information about the prerequisites and tested version.</p>
+<div class="section" id="installing-the-build-environment">
+<span id="building-under-windows"></span><h2>Installing the Build Environment<a class="headerlink" href="#installing-the-build-environment" title="Permalink to this headline">¶</a></h2>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><ol class="arabic">
+<li><p>MSYS2</p>
+<p>On Windows, the build environment of choice are <a class="reference internal" href="../other_information/20_glossary.html#term-MSYS2"><span class="xref std std-term">MSYS2</span></a> programming tools.
+<a class="reference internal" href="../other_information/20_glossary.html#term-MSYS2"><span class="xref std std-term">MSYS2</span></a> is used to install some third-party software on which <strong>openPASS</strong> depends.
+Also, the unix-like shell simplifies c++ compilation on Windows.
+For details, see <a class="reference external" href="https://www.msys2.org/">MSYS2 website</a>.</p>
+</li>
+<li id="msys2"><p>Download MSYS2</p>
+<p>The latest 64-bit packages are located at <a class="reference external" href="https://repo.msys2.org/distrib/x86_64/">https://repo.msys2.org/distrib/x86_64/</a>.
+Download a non-base package, i.e. <a class="reference external" href="https://repo.msys2.org/distrib/x86_64/msys2-x86_64-20200903.exe">msys2-x86_64-20200903.exe</a></p>
+</li>
+<li id="msys2-installation"><p>Install MSYS2</p>
+<p>Run the downloaded executable and adjust suggested settings to your needs (defaults are fine).
+In the following, it is assumed that MSYS2 is installed under <code class="docutils literal notranslate"><span class="pre">C:\msys64</span></code>.</p>
+</li>
+<li><p>Understand the Build Environment</p>
+<p>MSYS2 provides three different environments, located in the MSYS2 installation directory:</p>
+<div class="figure align-center" id="fig-msys2-environments">
+<img alt="MSYS2 Apps" src="../_images/msys2.png" />
+</div>
+<p>MSYS2 Environments</p>
+<ul class="simple">
+<li><p>MSYS2 MSYS: Common environment, i.e. for package management</p></li>
+<li><p>MSYS2 MinGW 32-bit: A MinGW 32-bit environment</p></li>
+<li><p>MSYS2 MinGW 64-bit: A MinGW 64-bit environment</p></li>
+</ul>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<div class="line-block">
+<div class="line">MSYS2 MinGW 64-bit is <strong>the</strong> <strong>openPASS</strong> development environment and will be referred to as <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell.</div>
+</div>
+</div>
+</li>
+</ol>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0">
+<span id="building-under-linux"></span><p>On Linux, no special build environment is needed. <strong>OpenPASS</strong> is developed under Debian 64-Bit,
+which means that developing under a recent Ubuntu distribution will also work.
+Debian Bullseye or Ubuntu 20.10 is recommended. Debian uses <code class="docutils literal notranslate"><span class="pre">apt</span></code> (or <code class="docutils literal notranslate"><span class="pre">apt-get</span></code>) as package managing system.
+Details will be given in <a class="reference internal" href="#binary-packages"><span class="std std-ref">Installing the Binary Packages</span></a> and <a class="reference internal" href="#building-prerequisites"><span class="std std-ref">Installing the Source Packages</span></a>.</p>
+</div></div>
+</div>
+<div class="section" id="installing-the-binary-packages">
+<span id="binary-packages"></span><h2>Installing the Binary Packages<a class="headerlink" href="#installing-the-binary-packages" title="Permalink to this headline">¶</a></h2>
+<p>The first set of dependencies we need to install in order to successfully compile <strong>openPASS</strong> are the binary packages. These can be installed via appropiate package manager.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows (MSYS2)</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux (Debian Bullseye)</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><ol class="arabic">
+<li><p>Open <code class="docutils literal notranslate"><span class="pre">MSYS2</span> <span class="pre">MSYS</span></code> and execute the following package manager <code class="docutils literal notranslate"><span class="pre">pacman</span></code> commands to update the package repository and upgrade system packages:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pacman</span> <span class="o">-</span><span class="n">Syuu</span>
+</pre></div>
+</div>
+<p>If the upgrade requires a restart of MSYS2, resume the upgrade by re-opening the shell and call:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pacman</span> <span class="o">-</span><span class="n">Suu</span>
+</pre></div>
+</div>
+</li>
+<li><p>Required packages (can be specified in single command line if desired):</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># for simulator</span>
+pacman -S mingw-w64-x86_64-boost <span class="c1">#Tested with 1.75.0-2</span>
+pacman -S mingw-w64-x86_64-ccache <span class="c1">#Tested with 3.7.9-1</span>
+pacman -S mingw-w64-x86_64-cmake <span class="c1">#Tested with 3.19.2-1</span>
+pacman -S mingw-w64-x86_64-doxygen <span class="c1">#Tested with 1.8.20-1</span>
+pacman -S mingw-w64-x86_64-gcc <span class="c1">#Tested with 10.2.0-6</span>
+pacman -S mingw-w64-x86_64-gdb <span class="c1">#Tested with 10.1-2</span>
+pacman -S mingw-w64-x86_64-graphviz <span class="c1">#Tested with 2.44.1-3</span>
+pacman -S mingw-w64-x86_64-gtest <span class="c1">#Tested with 1.11.0-4</span>
+pacman -S mingw-w64-x86_64-protobuf <span class="c1">#Tested with 3.12.4-1</span>
+pacman -S mingw-w64-x86_64-qt5 <span class="c1">#Tested with 5.15.2-5</span>
+pacman -S make <span class="c1">#Tested with 4.3-1</span>
+
+<span class="c1"># for documentation</span>
+pacman -S mingw-w64-x86_64-python <span class="c1">#Tested with 3.9.6.2</span>
+pacman -S mingw-w64-x86_64-python-pip <span class="c1">#Tested with 21.1.3-2</span>
+pacman -S mingw-w64-x86_64-python-lxml <span class="c1">#Tested with 4.6.2-2</span>
+
+<span class="c1"># get necessary latex style (assuming default paths for MSYS2)</span>
+wget -P /mingw64/share/texmf-dist/tex/latex/anyfontsize <span class="se">\</span>
+ http://mirrors.ctan.org/macros/latex/contrib/anyfontsize/anyfontsize.sty
+
+<span class="c1"># fonts (picks up anyfontsize) and equation rendering in the documentation</span>
+pacman -S mingw-w64-x86_64-zziplib <span class="c1">#Tested with 0.13.72-3</span>
+pacman -S mingw-w64-x86_64-texlive-bin <span class="c1">#Tested with 2021.20210424-5</span>
+pacman -S mingw-w64-x86_64-texlive-core <span class="c1">#Tested with 2021.20210519-2</span>
+pacman -S mingw-w64-x86_64-texlive-font-utils <span class="c1">#Tested with 2021.20210519-1</span>
+
+<span class="c1"># for sphinx/exhale</span>
+pacman -S libxslt-devel
+
+<span class="c1"># additional python packages for documentation</span>
+pip3 install sphinx sphinx-rtd-theme sphinx-tabs breathe exhale sphinxcontrib-spelling
+</pre></div>
+</div>
+<div class="admonition-versions admonition">
+<p class="admonition-title">Versions</p>
+<div class="line-block">
+<div class="line">MSYS2 provides rolling release versions, so some packages might be too “up-to-date”.</div>
+<div class="line">Tested packages - ate time of writing - have been listed above as comment.</div>
+<div class="line">If in doubt, download the package in the right version from the <a class="reference external" href="http://repo.msys2.org/mingw/x86_64/">MSYS2 package repository</a>.</div>
+<div class="line">Install with <code class="docutils literal notranslate"><span class="pre">pacman</span> <span class="pre">-U</span> <span class="pre"><package-filename></span></code></div>
+</div>
+</div>
+</li>
+<li><p>Optional Packages</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pacman</span> <span class="o">-</span><span class="n">S</span> <span class="n">git</span>
+<span class="n">pacman</span> <span class="o">-</span><span class="n">S</span> <span class="n">diffutils</span>
+<span class="n">pacman</span> <span class="o">-</span><span class="n">S</span> <span class="n">patch</span>
+<span class="n">pacman</span> <span class="o">-</span><span class="n">S</span> <span class="n">dos2unix</span>
+<span class="n">pacman</span> <span class="o">-</span><span class="n">S</span> <span class="n">mingw</span><span class="o">-</span><span class="n">w64</span><span class="o">-</span><span class="n">x86_64</span><span class="o">-</span><span class="n">ag</span>
+<span class="n">pacman</span> <span class="o">-</span><span class="n">S</span> <span class="n">mingw</span><span class="o">-</span><span class="n">w64</span><span class="o">-</span><span class="n">x86_64</span><span class="o">-</span><span class="n">qt5</span><span class="o">-</span><span class="n">debug</span>
+<span class="n">pacman</span> <span class="o">-</span><span class="n">S</span> <span class="n">zlib</span><span class="o">-</span><span class="n">devel</span>
+</pre></div>
+</div>
+</li>
+</ol>
+<div class="admonition-git-ssh admonition">
+<p class="admonition-title">GIT/SSH</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell does not access an already existing git installation or available SSH keys.
+Make sure, to update/copy your configuration and credentials within the <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell before working with git.</p>
+</div>
+</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><ol class="arabic">
+<li><p>Update the package database on the system</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">apt</span> <span class="n">update</span>
+</pre></div>
+</div>
+</li>
+<li><p>Upgrade existing software to latest version</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">apt</span> <span class="n">upgrade</span>
+</pre></div>
+</div>
+</li>
+<li><p>Install required binary packages</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># for simulator</span>
+<span class="n">apt</span> <span class="n">install</span> <span class="n">ccache</span>
+<span class="n">apt</span> <span class="n">install</span> <span class="n">cmake</span>
+<span class="n">apt</span> <span class="n">install</span> <span class="n">doxygen</span>
+<span class="n">apt</span> <span class="n">install</span> <span class="n">googletest</span>
+<span class="n">apt</span> <span class="n">install</span> <span class="n">gcc</span>
+<span class="n">apt</span> <span class="n">install</span> <span class="n">g</span><span class="o">++</span>
+<span class="n">apt</span> <span class="n">install</span> <span class="n">graphviz</span>
+<span class="n">apt</span> <span class="n">install</span> <span class="n">libprotobuf</span><span class="o">-</span><span class="n">dev</span>
+<span class="n">apt</span> <span class="n">install</span> <span class="n">protobuf</span><span class="o">-</span><span class="n">compiler</span> <span class="c1"># when building osi</span>
+<span class="n">apt</span> <span class="n">install</span> <span class="n">qt5</span><span class="o">-</span><span class="n">default</span>
+<span class="n">apt</span> <span class="n">install</span> <span class="n">zlib1g</span><span class="o">-</span><span class="n">dev</span>
+
+<span class="c1"># for documentation</span>
+<span class="n">sudo</span> <span class="n">apt</span> <span class="n">install</span> <span class="n">doxygen</span> <span class="n">python3</span> <span class="n">python3</span><span class="o">-</span><span class="n">pip</span> <span class="n">libenchant</span><span class="o">-</span><span class="mi">2</span><span class="o">-</span><span class="mi">2</span> <span class="n">dvipng</span>
+<span class="n">pip3</span> <span class="n">install</span> <span class="n">sphinx</span> <span class="n">sphinx</span><span class="o">-</span><span class="n">rtd</span><span class="o">-</span><span class="n">theme</span> <span class="n">sphinx</span><span class="o">-</span><span class="n">tabs</span> <span class="n">breathe</span> <span class="n">exhale</span> <span class="n">sphinxcontrib</span><span class="o">-</span><span class="n">spelling</span>
+</pre></div>
+</div>
+<p>Under Linux, it is deliberate that the googletest package only installs the header files to the system,
+but not the static and dynamic libraries. The missing libraries can be build and installed to <code class="docutils literal notranslate"><span class="pre">/usr/lib</span></code> via</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">usr</span><span class="o">/</span><span class="n">src</span><span class="o">/</span><span class="n">googletest</span>
+<span class="n">cmake</span> <span class="o">.</span>
+<span class="n">make</span>
+<span class="n">make</span> <span class="n">install</span>
+</pre></div>
+</div>
+</li>
+</ol>
+</div></div>
+<p><strong>EndToEnd Test Framework</strong></p>
+<p>If the <a class="reference internal" href="../advanced_topics/30_testing.html#testing-endtoend"><span class="std std-ref">EndToEnd Test Framework</span></a> shall be used, additional requirements have to be considered.</p>
+<p>The test framework is based on Python and some additional Python modules.
+Installation of the required modules can be accomplished using <code class="docutils literal notranslate"><span class="pre">pip</span></code>.
+Please refer to the file <code class="docutils literal notranslate"><span class="pre">requirements.txt</span></code> located in <code class="docutils literal notranslate"><span class="pre">sim/tests/endToEndTests/pyOpenPASS</span></code> for a list of dependencies.</p>
+<p>The requirements file can be directly passed to <code class="docutils literal notranslate"><span class="pre">pip</span></code>:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">pip</span> <span class="n">install</span> <span class="o">-</span><span class="n">r</span> <span class="n">requirements</span><span class="o">.</span><span class="n">txt</span>
+</pre></div>
+</div>
+<p>(executed from <code class="docutils literal notranslate"><span class="pre">sim/src/tests/endToEndTests/pyOpenPASS</span></code>)</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p><img alt="win_only" src="../_images/win_only.png" />
+<code class="docutils literal notranslate"><span class="pre">pip</span> <span class="pre">install</span></code> will try to fetch precompiled packages by default.
+If it is unable to locate a binary package for the current environment, packages will be compiled from source.
+This step fails for the <code class="docutils literal notranslate"><span class="pre">numpy</span></code> package when being built from the MSYS2 environment.
+Thus, it is recommended to set up a native Windows Python environment and perform the installation there.
+To force the usage of a specific Python environment, the variable <code class="docutils literal notranslate"><span class="pre">Python3_EXECUTABLE</span></code> can be set to the indended Python interpreter executable during cmake configuration (see <a class="reference internal" href="30_install_openpass.html#download-and-install-openpass"><span class="std std-ref">Installing OpenPASS</span></a>).</p>
+</div>
+<p>Please refer to <a class="reference internal" href="../advanced_topics/30_testing.html#testing-endtoend"><span class="std std-ref">EndToEnd Test Framework</span></a> for more details for using the framework.</p>
+</div>
+<div class="section" id="installing-the-source-packages">
+<span id="building-prerequisites"></span><h2>Installing the Source Packages<a class="headerlink" href="#installing-the-source-packages" title="Permalink to this headline">¶</a></h2>
+<p>This section describes how to compile prerequisites of <strong>openPASS</strong> using source packages.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If you are unfamiliar to <code class="docutils literal notranslate"><span class="pre">CMake</span></code> or working within a <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell, Section <a class="reference internal" href="further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> and <a class="reference internal" href="#msys2"><span class="std std-ref">MSYS2</span></a> might give you a short introduction on these topics in the scope of building <strong>openPASS</strong> itself.</p>
+</div>
+<div class="section" id="location-of-installed-source-packages">
+<h3>Location Of Installed Source Packages<a class="headerlink" href="#location-of-installed-source-packages" title="Permalink to this headline">¶</a></h3>
+<p>The goal of this section is to download necessary source packages and install
+them into a suitable directory. This directory will later on be copied into the <strong>openPASS</strong> repository in order to resolve third party dependency.
+The following directory tree shows the folder structure, which will be created by following the recommendations of this guide.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-2-2-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-2-2-0" name="2-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-2-2-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-2-2-1" name="2-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-2-2-0" class="sphinx-tabs-panel" id="panel-2-2-0" name="2-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span>C:\OpenPASS\thirdParty
+├── FMILibrary
+│ ├── include
+│ └── lib
+└── osi
+ ├── include
+ └── lib
+</pre></div>
+</div>
+<p>In the folder structure above:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\thirdParty</span></code> refers to a temporary directory used to built the prerequisites from source, <strong>not</strong> the <code class="docutils literal notranslate"><span class="pre">simopenpass</span></code> repository</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">FMILibrary</span></code> is the install directory of the <code class="docutils literal notranslate"><span class="pre">Functional</span> <span class="pre">Mock-up</span> <span class="pre">Interface</span> <span class="pre">(FMI)</span></code> when build from source</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">osi</span></code> is the install directory of the <code class="docutils literal notranslate"><span class="pre">Open</span> <span class="pre">Simulation</span> <span class="pre">Interface</span> <span class="pre">(OSI)</span></code> when build from source.</p></li>
+</ul>
+</div><div aria-labelledby="tab-2-2-1" class="sphinx-tabs-panel" hidden="true" id="panel-2-2-1" name="2-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span>~/OpenPASS/thirdParty
+├── FMILibrary
+│ ├── include
+│ └── lib
+└── osi
+ ├── include
+ └── lib
+</pre></div>
+</div>
+<p>In the folder structure above:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">~/OpenPASS/thirdParty</span></code> refers to a temporary directory used to built the prerequisites from source, <strong>not</strong> the <code class="docutils literal notranslate"><span class="pre">simopenpass</span></code> repository</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">FMILibrary</span></code> is the install directory of the <code class="docutils literal notranslate"><span class="pre">Functional</span> <span class="pre">Mock-up</span> <span class="pre">Interface</span> <span class="pre">(FMI)</span></code> when build from source</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">osi</span></code> is the install directory of the <code class="docutils literal notranslate"><span class="pre">Open</span> <span class="pre">Simulation</span> <span class="pre">Interface</span> <span class="pre">(OSI)</span></code> when build from source.</p></li>
+</ul>
+</div></div>
+<p>On the basis of this structure, we will explain further steps.</p>
+</div>
+<div class="section" id="build-and-install-osi">
+<span id="building-osi"></span><h3>Build and Install OSI<a class="headerlink" href="#build-and-install-osi" title="Permalink to this headline">¶</a></h3>
+<p>As can be looked up in <a class="reference internal" href="../other_information/10_external_dependencies.html#prerequisites-osi"><span class="std std-ref">Open Simulation Interface (OSI)</span></a>, the core component <code class="docutils literal notranslate"><span class="pre">World_OSI</span></code> uses <a class="reference internal" href="../other_information/20_glossary.html#term-OSI"><span class="xref std std-term">OSI</span></a> as backend storage.
+OSI itself uses <code class="docutils literal notranslate"><span class="pre">protobuf</span></code> to describe data structures in a platform independent way by means of <cite>*.proto</cite> files.
+When building OSI, these files are converted into C++ headers and sources, using the protobuf compiler <code class="docutils literal notranslate"><span class="pre">protoc</span></code>.
+Finally, the sources are then compiled into a library.
+<strong>OpenPASS</strong> finally uses the library and the generated headers to interface the library.</p>
+<ol class="arabic">
+<li><p>Open and create directory structure</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-3-3-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-3-3-0" name="3-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-3-3-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-3-3-1" name="3-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-3-3-0" class="sphinx-tabs-panel" id="panel-3-3-0" name="3-0" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span>
+<span class="n">mkdir</span> <span class="o">-</span><span class="n">p</span> <span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">sources</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-3-3-1" class="sphinx-tabs-panel" hidden="true" id="panel-3-3-1" name="3-1" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">Bash</span></code> shell</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~</span>
+<span class="n">mkdir</span> <span class="o">-</span><span class="n">p</span> <span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">sources</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Download release 3.2.0 from <a class="reference external" href="https://github.com/OpenSimulationInterface/open-simulation-interface">https://github.com/OpenSimulationInterface/open-simulation-interface</a></p></li>
+<li><p>Extract</p>
+<ul class="simple">
+<li><p>for Windows to <code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\thirdParty\sources\open-simulation-interface-3.2.0</span></code></p></li>
+<li><p>for Linux to <code class="docutils literal notranslate"><span class="pre">~/OpenPASS/thirdParty/sources/open-simulation-interface-3.2.0</span></code></p></li>
+</ul>
+</li>
+<li><p>Navigate to the extracted folder</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-4-4-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-4-4-0" name="4-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-4-4-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-4-4-1" name="4-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-4-4-0" class="sphinx-tabs-panel" id="panel-4-4-0" name="4-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">sources</span><span class="o">/</span><span class="nb">open</span><span class="o">-</span><span class="n">simulation</span><span class="o">-</span><span class="n">interface</span><span class="o">-</span><span class="mf">3.2</span><span class="o">.</span><span class="mi">0</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-4-4-1" class="sphinx-tabs-panel" hidden="true" id="panel-4-4-1" name="4-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">sources</span><span class="o">/</span><span class="nb">open</span><span class="o">-</span><span class="n">simulation</span><span class="o">-</span><span class="n">interface</span><span class="o">-</span><span class="mf">3.2</span><span class="o">.</span><span class="mi">0</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Optional: Enable Arenas</p>
+<p>For better performance, <strong>openPASS</strong> supports protobuf Arenas allocation (<a class="reference external" href="https://developers.google.com/protocol-buffers/docs/reference/arenas">https://developers.google.com/protocol-buffers/docs/reference/arenas</a>).
+To use this feature, OSI and <strong>openPASS</strong> needs to be compiled with Arenas support.
+See <a class="reference internal" href="further_guidance/10_cmake.html#cmake-protobuf-arenas"><span class="std std-ref">WITH_EXTENDED_OSI</span></a> how this feature is enabled in <strong>openPASS</strong>.</p>
+<p>To enable Arenas support for OSI, the line <code class="docutils literal notranslate"><span class="pre">option</span> <span class="pre">cc_enable_arenas</span> <span class="pre">=</span> <span class="pre">true;</span></code> needs to be added <strong>manually</strong> to all OSI proto files before compilation.</p>
+<p>This can be achieved in two ways. Either the line <code class="docutils literal notranslate"><span class="pre">option</span> <span class="pre">cc_enable_arenas</span> <span class="pre">=</span> <span class="pre">true;</span></code> gets added manually <strong>after the second line</strong> of each PROTO file</p>
+<ul class="simple">
+<li><p>for Windows in <code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\thirdParty\sources\open-simulation-interface</span></code></p></li>
+<li><p>for Linux in <code class="docutils literal notranslate"><span class="pre">~/OpenPASS/thirdParty/sources/open-simulation-interface</span></code></p></li>
+</ul>
+<p>by using a text editor or one makes use of the stream editor in the shell:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">find</span> <span class="o">.</span> <span class="o">-</span><span class="n">maxdepth</span> <span class="mi">1</span> <span class="o">-</span><span class="n">name</span> <span class="s1">'*.proto'</span> <span class="o">-</span><span class="n">exec</span> <span class="n">sed</span> <span class="o">-</span><span class="n">i</span> <span class="s1">'2i option cc_enable_arenas = true;'</span> <span class="p">{}</span> \<span class="p">;</span>
+</pre></div>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>The first line of each OSI proto file specifies the protobuf syntax used.
+If Arenas support is added before the syntax specification, errors occur.</p>
+</div>
+</li>
+<li><p>Create build directory</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">mkdir</span> <span class="n">build</span>
+<span class="n">cd</span> <span class="n">build</span>
+</pre></div>
+</div>
+</li>
+<li><p>Run Cmake</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-5-5-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-5-5-0" name="5-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-5-5-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-5-5-1" name="5-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-5-5-0" class="sphinx-tabs-panel" id="panel-5-5-0" name="5-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">G</span> <span class="s2">"MSYS Makefiles"</span> \
+ <span class="o">-</span><span class="n">DCMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
+ <span class="o">-</span><span class="n">DCMAKE_INSTALL_PREFIX</span><span class="o">=</span><span class="n">C</span><span class="p">:</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">osi</span> \
+ <span class="o">..</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-5-5-1" class="sphinx-tabs-panel" hidden="true" id="panel-5-5-1" name="5-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">DCMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
+ <span class="o">-</span><span class="n">DCMAKE_INSTALL_PREFIX</span><span class="o">=~/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">osi</span> \
+ <span class="o">..</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Compile</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="o">-</span><span class="n">j3</span>
+</pre></div>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>If <code class="docutils literal notranslate"><span class="pre">protobuf</span></code> compiler complains, do</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">protoc</span> <span class="o">--</span><span class="n">version</span>
+</pre></div>
+</div>
+<p>and check if correct protobuf version is used.</p>
+</div>
+</li>
+<li><p>Install</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="n">install</span>
+</pre></div>
+</div>
+<div class="admonition-documentation admonition">
+<p class="admonition-title">Documentation</p>
+<p>The OSI class documentation is part of the source code and can be compiled using Doxygen.
+Instructions are located in the OSI <code class="docutils literal notranslate"><span class="pre">Readme.md</span></code>. A pre-compiled version is located <a class="reference external" href="https://opensimulationinterface.github.io/open-simulation-interface/index.html">here</a>.</p>
+<p>So far, the documentation does not include the extensions from the openpass-trafficAgents branch.</p>
+</div>
+</li>
+</ol>
+</div>
+<div class="section" id="build-and-install-fmil">
+<span id="building-fmil"></span><h3>Build and Install FMIL<a class="headerlink" href="#build-and-install-fmil" title="Permalink to this headline">¶</a></h3>
+<ol class="arabic">
+<li><p>Download release 2.0.3 from <a class="reference external" href="https://github.com/modelon-community/fmi-library">https://github.com/modelon-community/fmi-library</a></p></li>
+<li><p>Extract</p>
+<ul class="simple">
+<li><p>for Windows to <code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\thirdParty\sources\fmi-library-2.0.3</span></code></p></li>
+<li><p>for Linux to <code class="docutils literal notranslate"><span class="pre">~/OpenPASS/thirdParty/sources/fmi-library-2.0.3</span></code></p></li>
+</ul>
+</li>
+<li><p>Navigate to the extracted folder</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-6-6-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-6-6-0" name="6-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-6-6-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-6-6-1" name="6-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-6-6-0" class="sphinx-tabs-panel" id="panel-6-6-0" name="6-0" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">sources</span><span class="o">/</span><span class="n">fmi</span><span class="o">-</span><span class="n">library</span><span class="o">-</span><span class="mf">2.0</span><span class="o">.</span><span class="mi">3</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-6-6-1" class="sphinx-tabs-panel" hidden="true" id="panel-6-6-1" name="6-1" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">Bash</span></code> shell</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">sources</span><span class="o">/</span><span class="n">fmi</span><span class="o">-</span><span class="n">library</span><span class="o">-</span><span class="mf">2.0</span><span class="o">.</span><span class="mi">3</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Create build directory</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">mkdir</span> <span class="n">build</span>
+<span class="n">cd</span> <span class="n">build</span>
+</pre></div>
+</div>
+</li>
+<li><p>Run Cmake</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-7-7-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-7-7-0" name="7-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-7-7-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-7-7-1" name="7-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-7-7-0" class="sphinx-tabs-panel" id="panel-7-7-0" name="7-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">G</span> <span class="s2">"MSYS Makefiles"</span> \
+ <span class="o">-</span><span class="n">DFMILIB_INSTALL_PREFIX</span><span class="o">=</span><span class="n">C</span><span class="p">:</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">FMILibrary</span> \
+ <span class="o">-</span><span class="n">DCMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
+ <span class="o">-</span><span class="n">DFMILIB_BUILD_STATIC_LIB</span><span class="o">=</span><span class="n">OFF</span> \
+ <span class="o">-</span><span class="n">DFMILIB_BUILD_SHARED_LIB</span><span class="o">=</span><span class="n">ON</span> \
+ <span class="o">..</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-7-7-1" class="sphinx-tabs-panel" hidden="true" id="panel-7-7-1" name="7-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">DFMILIB_INSTALL_PREFIX</span><span class="o">=~/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">FMILibrary</span> \
+ <span class="o">-</span><span class="n">DCMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
+ <span class="o">-</span><span class="n">DFMILIB_BUILD_STATIC_LIB</span><span class="o">=</span><span class="n">OFF</span> \
+ <span class="o">-</span><span class="n">DFMILIB_BUILD_SHARED_LIB</span><span class="o">=</span><span class="n">ON</span> \
+ <span class="o">..</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Leave build directory</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">..</span>
+</pre></div>
+</div>
+</li>
+<li><p>Apply Patch</p>
+<p>As FMIL and the internally used <a class="reference external" href="https://github.com/modelica-tools/FMUComplianceChecker">FMU Compliance Checker</a> has issues with loading and private entry points, the following patch needs to be applied:</p>
+<ul class="simple">
+<li><p><a class="reference download internal" download="" href="../_downloads/d1dbc0ee423132666374fa73f6c0f165/fmi-library-2.0.3-fixes.patch"><code class="xref download docutils literal notranslate"><span class="pre">Windows/Linux</span> <span class="pre">Patch</span></code></a></p></li>
+</ul>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-8-8-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-8-8-0" name="8-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-8-8-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-8-8-1" name="8-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-8-8-0" class="sphinx-tabs-panel" id="panel-8-8-0" name="8-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">patch</span> <span class="o">-</span><span class="n">l</span> <span class="o">-</span><span class="n">p1</span> <span class="s2">"<path/to>/fmi-library-2.0.3-fixes.patch"</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-8-8-1" class="sphinx-tabs-panel" hidden="true" id="panel-8-8-1" name="8-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">dos2unix</span> <span class="n">src</span><span class="o">/</span><span class="n">Import</span><span class="o">/</span><span class="n">src</span><span class="o">/</span><span class="n">FMI1</span><span class="o">/</span><span class="n">fmi1_import_capi</span><span class="o">.</span><span class="n">c</span> <span class="n">src</span><span class="o">/</span><span class="n">Import</span><span class="o">/</span><span class="n">src</span><span class="o">/</span><span class="n">FMI2</span><span class="o">/</span><span class="n">fmi2_import_capi</span><span class="o">.</span><span class="n">c</span> <span class="n">src</span><span class="o">/</span><span class="n">Util</span><span class="o">/</span><span class="n">include</span><span class="o">/</span><span class="n">JM</span><span class="o">/</span><span class="n">jm_portability</span><span class="o">.</span><span class="n">h</span>
+<span class="n">patch</span> <span class="o">-</span><span class="n">l</span> <span class="o">-</span><span class="n">p1</span> <span class="s2">"<path/to>/fmi-library-2.0.3-fixes.patch"</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Enter build directory</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="n">build</span>
+</pre></div>
+</div>
+</li>
+<li><p>Compile</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="o">-</span><span class="n">j3</span>
+</pre></div>
+</div>
+</li>
+<li><p>Install</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="n">install</span>
+</pre></div>
+</div>
+</li>
+</ol>
+</div>
+</div>
+</div>
+
+
+ </div>
+
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-<span id="sim-install-guide"></span><h1>Simulation Installation Guide<a class="headerlink" href="#simulation-installation-guide" title="Permalink to this headline">¶</a></h1>
-<p>This guide summarizes all installation related topics, necessary to setup and build the <strong>openPASS</strong> simulation core (9999.9999.9999).</p>
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diff --git a/content/html/installation_guide/21_pcm_installation_guide.html b/content/html/installation_guide/21_pcm_installation_guide.html
deleted file mode 100644
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+++ /dev/null
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-<h1>PCM Installation Guide<a class="headerlink" href="#pcm-installation-guide" title="Permalink to this headline">¶</a></h1>
-<div class="admonition-todo admonition" id="id1">
-<p class="admonition-title">Todo</p>
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new file mode 100644
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+</ul>
+<p class="caption"><span class="caption-text">User Guides</span></p>
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+</ul>
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+ <div class="section" id="installing-openpass">
+<span id="download-and-install-openpass"></span><h1>Installing OpenPASS<a class="headerlink" href="#installing-openpass" title="Permalink to this headline">¶</a></h1>
+<p>This section describes how compile and run <strong>openPASS</strong>. Please make sure that all prerequisites have been properly installed according to section <a class="reference internal" href="20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a>.
+If you have strictly followed the instructions, the installed source packages should be located on your machine under
+<code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\thirdParty</span></code> for <strong>Windows</strong> and <code class="docutils literal notranslate"><span class="pre">~/OpenPASS/thirdParty</span></code> for <strong>Linux</strong>. If there is a path deviation,
+the following commands must be adjusted.</p>
+<p>To keep the installation process of <strong>openPASS</strong> as simple as possible, we again recommend a specific folder structure.
+If you have strictly followed and will follow the recommended paths of this guide, no command modifications are necessary.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Notes for Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Notes for Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><ul class="simple">
+<li><p>Recommended checkout path of <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">C:\simopenpass</span></code></p></li>
+<li><p>Recommended dependendy directory within the <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">C:\simopenpass\deps\thirdParty</span></code></p></li>
+<li><p>Recommended installation directory of <strong>openPASS</strong>: <code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\bin\core</span></code></p></li>
+</ul>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><ul class="simple">
+<li><p>Recommended checkout path of <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">~/simopenpass</span></code></p></li>
+<li><p>Recommended dependendy directory within the <strong>openPASS</strong> repository: <code class="docutils literal notranslate"><span class="pre">~/simopenpass/deps/thirdParty</span></code></p></li>
+<li><p>Recommended installation directory of <strong>openPASS</strong>: <code class="docutils literal notranslate"><span class="pre">/usr/local/OpenPASS/bin/core</span></code></p></li>
+</ul>
+</div></div>
+<p>The above directory structure will be created by following the instructions of this guide.</p>
+<ol class="arabic">
+<li><p>Clone <strong>OpenPASS</strong> repository</p>
+<p>As described above, the checkout path of the repository is assumed to be the default <code class="docutils literal notranslate"><span class="pre">simopenpass</span></code>.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span>
+<span class="n">git</span> <span class="n">clone</span> <span class="n">https</span><span class="p">:</span><span class="o">//</span><span class="n">gitlab</span><span class="o">.</span><span class="n">eclipse</span><span class="o">.</span><span class="n">org</span><span class="o">/</span><span class="n">eclipse</span><span class="o">/</span><span class="n">simopenpass</span><span class="o">/</span><span class="n">simopenpass</span><span class="o">.</span><span class="n">git</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>As stated in <a class="reference internal" href="20_install_prerequisites.html#building-under-windows"><span class="std std-ref">Installing the Build Environment</span></a>, the windows programming tools suffer from a <cite>path length restriction</cite>.
+This error manifests as strange <strong>file not found</strong> compile errors.
+It is therefore recommended to use a short path for source code checkout, e.g. a drive letter.
+This can also be done by the windows command <a class="reference external" href="https://docs.microsoft.com/en-us/windows-server/administration/windows-commands/subst">subst</a>.</p>
+</div>
+</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">Bash</span></code> shell</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~</span>
+<span class="n">git</span> <span class="n">clone</span> <span class="n">https</span><span class="p">:</span><span class="o">//</span><span class="n">gitlab</span><span class="o">.</span><span class="n">eclipse</span><span class="o">.</span><span class="n">org</span><span class="o">/</span><span class="n">eclipse</span><span class="o">/</span><span class="n">simopenpass</span><span class="o">/</span><span class="n">simopenpass</span><span class="o">.</span><span class="n">git</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Navigate into repository and checkout main branch</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="n">simopenpass</span>
+<span class="n">git</span> <span class="n">checkout</span> <span class="n">main</span>
+</pre></div>
+</div>
+</li>
+<li><p>Create directory structure</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">mkdir</span> <span class="o">-</span><span class="n">p</span> <span class="n">deps</span><span class="o">/</span><span class="n">thirdParty</span>
+</pre></div>
+</div>
+</li>
+<li><p>Navigate into directory where installed prerequisites are located</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-2-2-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-2-2-0" name="2-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-2-2-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-2-2-1" name="2-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-2-2-0" class="sphinx-tabs-panel" id="panel-2-2-0" name="2-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-2-2-1" class="sphinx-tabs-panel" hidden="true" id="panel-2-2-1" name="2-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Copy prerequisites into repository (c.f. <a class="reference internal" href="20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a>)</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-3-3-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-3-3-0" name="3-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-3-3-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-3-3-1" name="3-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-3-3-0" class="sphinx-tabs-panel" id="panel-3-3-0" name="3-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cp</span> <span class="o">-</span><span class="n">r</span> <span class="n">osi</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span><span class="n">simopenpass</span><span class="o">/</span><span class="n">deps</span><span class="o">/</span><span class="n">thirdParty</span>
+<span class="n">cp</span> <span class="o">-</span><span class="n">r</span> <span class="n">FMILibrary</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span><span class="n">simopenpass</span><span class="o">/</span><span class="n">deps</span><span class="o">/</span><span class="n">thirdParty</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-3-3-1" class="sphinx-tabs-panel" hidden="true" id="panel-3-3-1" name="3-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cp</span> <span class="o">-</span><span class="n">r</span> <span class="n">osi</span> <span class="o">~/</span><span class="n">simopenpass</span><span class="o">/</span><span class="n">deps</span><span class="o">/</span><span class="n">thirdParty</span>
+<span class="n">cp</span> <span class="o">-</span><span class="n">r</span> <span class="n">FMILibrary</span> <span class="o">~/</span><span class="n">simopenpass</span><span class="o">/</span><span class="n">deps</span><span class="o">/</span><span class="n">thirdParty</span>
+</pre></div>
+</div>
+</div></div>
+<p id="ref-prerequisites">Once prerequisites are in place, all third party dependencies within <code class="docutils literal notranslate"><span class="pre">simopenpass</span></code> can be resolved by <code class="docutils literal notranslate"><span class="pre">CMake</span></code>.
+For <code class="docutils literal notranslate"><span class="pre">CMake</span></code> builds, each installed prerequisite, which is located in its own subdirectory under</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">C:\simopenpass\deps\thirdParty</span></code> for Windows and</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">~/simopenpass/deps/thirdParty</span></code> for Linux,</p></li>
+</ul>
+<p>can be referenced by its path.
+The reference is made via the <a class="reference internal" href="further_guidance/10_cmake.html#cmake-prefix-path"><span class="std std-ref">CMAKE_PREFIX_PATH</span></a> environmental variable, which holds a list of directories specifying the installed prerequisite.
+This will be explained in more detail in the following.</p>
+</li>
+<li><p>Navigate back into repository</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-4-4-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-4-4-0" name="4-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-4-4-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-4-4-1" name="4-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-4-4-0" class="sphinx-tabs-panel" id="panel-4-4-0" name="4-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span><span class="n">simopenpass</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-4-4-1" class="sphinx-tabs-panel" hidden="true" id="panel-4-4-1" name="4-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~/</span><span class="n">simopenpass</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Create build directory and navigate into it</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">mkdir</span> <span class="n">build</span>
+<span class="n">cd</span> <span class="n">build</span>
+</pre></div>
+</div>
+</li>
+<li><p>Prepare build</p>
+<p><strong>OpenPASS</strong> links against shared libraries, which are located in the paths specified by <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code>.
+To be able to install <strong>OpenPASS</strong> with resolved dependencies, all libraries found under the paths have to be copied right next to the executable during the installation step.
+This is done by setting <code class="docutils literal notranslate"><span class="pre">INSTALL_EXTRA_RUNTIME_DEPS=ON</span></code>. If you have followed the instructions strictly, no changes are necessary.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-5-5-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-5-5-0" name="5-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-5-5-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-5-5-1" name="5-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-5-5-0" class="sphinx-tabs-panel" id="panel-5-5-0" name="5-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">G</span> <span class="s2">"MSYS Makefiles"</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">"C:/msys64/mingw64/bin;C:/simopenpass/deps/thirdParty/FMILibrary;C:/simopenpass/deps/thirdParty/osi"</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_INSTALL_PREFIX</span><span class="o">=</span><span class="n">C</span><span class="p">:</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="nb">bin</span><span class="o">/</span><span class="n">core</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">USE_CCACHE</span><span class="o">=</span><span class="n">ON</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">WITH_DEBUG_POSTFIX</span><span class="o">=</span><span class="n">OFF</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">OPENPASS_ADJUST_OUTPUT</span><span class="o">=</span><span class="n">OFF</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">INSTALL_EXTRA_RUNTIME_DEPS</span><span class="o">=</span><span class="n">ON</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_C_COMPILER</span><span class="o">=</span><span class="n">gcc</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_CXX_COMPILER</span><span class="o">=</span><span class="n">g</span><span class="o">++</span> \
+<span class="o">..</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Even though it is recommended, you do not have to copy <a class="reference internal" href="../other_information/20_glossary.html#term-MinGW"><span class="xref std std-term">MinGW</span></a> libraries next to the executable. Providing the libraries can also be done in the following ways:</p>
+<ul>
+<li><p>either <strong>openPASS</strong> gets <strong>only</strong> executed exclusively from the <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell, then all necessary <a class="reference internal" href="../other_information/20_glossary.html#term-MinGW"><span class="xref std std-term">MinGW</span></a> libraries get linked automatically by the shell</p></li>
+<li><p>or one can add <code class="docutils literal notranslate"><span class="pre">C:\msys64\mingw64\bin</span></code> permanently to the <em>Windows Environment Variable</em> <code class="docutils literal notranslate"><span class="pre">Path</span></code></p></li>
+<li><p>or temporarily set <code class="docutils literal notranslate"><span class="pre">Path</span></code> prior to the execution, e.g. in a wrapper:</p>
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span># your_program.cmd
+<span class="k">Path</span>=C:\msys64\mingw64\bin;<span class="nv">%Path%</span> # set Path
+your_program.exe # execute
+</pre></div>
+</div>
+</li>
+</ul>
+</div>
+</div><div aria-labelledby="tab-5-5-1" class="sphinx-tabs-panel" hidden="true" id="panel-5-5-1" name="5-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">"$HOME/simopenpass/deps/thirdParty/FMILibrary;$HOME/simopenpass/deps/thirdParty/osi"</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_INSTALL_PREFIX</span><span class="o">=/</span><span class="n">usr</span><span class="o">/</span><span class="n">local</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="nb">bin</span><span class="o">/</span><span class="n">core</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">USE_CCACHE</span><span class="o">=</span><span class="n">ON</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">WITH_DEBUG_POSTFIX</span><span class="o">=</span><span class="n">OFF</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">OPENPASS_ADJUST_OUTPUT</span><span class="o">=</span><span class="n">OFF</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">INSTALL_EXTRA_RUNTIME_DEPS</span><span class="o">=</span><span class="n">ON</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_C_COMPILER</span><span class="o">=</span><span class="n">gcc</span><span class="o">-</span><span class="mi">9</span> \
+<span class="o">-</span><span class="n">D</span> <span class="n">CMAKE_CXX_COMPILER</span><span class="o">=</span><span class="n">g</span><span class="o">++-</span><span class="mi">9</span> \
+<span class="o">..</span>
+</pre></div>
+</div>
+</div></div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If you need to adjust paths and options based on your system and needs, don’t forget to escape the semicolon <code class="docutils literal notranslate"><span class="pre">;</span></code> (see <a class="reference internal" href="further_guidance/10_cmake.html#cmake-prefix-path"><span class="std std-ref">CMAKE_PREFIX_PATH</span></a>).
+For a build that goes beyond the default settings, see <a class="reference internal" href="further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a> for more available variables and options that can be set.</p>
+</div>
+</li>
+<li><p>Optional: Build and execute unit tests</p>
+<p>Starting from <code class="docutils literal notranslate"><span class="pre">simopenpass/build</span></code>:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="n">test</span> <span class="n">ARGS</span><span class="o">=</span><span class="s2">"--output-on-failure -j3"</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>ARGS is optional, but recommended.
+Adjust parallel build flag <code class="docutils literal notranslate"><span class="pre">-j3</span></code> based on your system.</p>
+</div>
+</li>
+<li><p>Build documentation</p>
+<p>Starting from <code class="docutils literal notranslate"><span class="pre">simopenpass/build</span></code>:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="n">doc</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently the documentation must be built before <strong>openPASS</strong> can be successfully installed if the CMake variable <cite>WITH_DOC=ON</cite> (default).</p>
+</div>
+</li>
+<li><p>Build simulation core</p>
+<p>Starting from <code class="docutils literal notranslate"><span class="pre">simopenpass/build</span></code>:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="o">-</span><span class="n">j3</span> <span class="n">install</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Again, adjust parallel build flag <code class="docutils literal notranslate"><span class="pre">-j3</span></code> based on your system.</p>
+</div>
+</li>
+<li><p>Fix installation (we’re working on that…)</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-6-6-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-6-6-0" name="6-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-6-6-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-6-6-1" name="6-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-6-6-0" class="sphinx-tabs-panel" id="panel-6-6-0" name="6-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cp</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="nb">bin</span><span class="o">/</span><span class="n">core</span><span class="o">/</span><span class="nb">bin</span><span class="o">/*</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="nb">bin</span><span class="o">/</span><span class="n">core</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-6-6-1" class="sphinx-tabs-panel" hidden="true" id="panel-6-6-1" name="6-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cp</span> <span class="o">/</span><span class="n">usr</span><span class="o">/</span><span class="n">local</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="nb">bin</span><span class="o">/</span><span class="n">core</span><span class="o">/</span><span class="nb">bin</span><span class="o">/*</span> <span class="o">/</span><span class="n">usr</span><span class="o">/</span><span class="n">local</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="nb">bin</span><span class="o">/</span><span class="n">core</span>
+</pre></div>
+</div>
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+<span id="id1"></span><h1>Building with Conan<a class="headerlink" href="#building-with-conan" title="Permalink to this headline">¶</a></h1>
+<img alt="https://conan.io/img/logo-conan.svg" src="https://conan.io/img/logo-conan.svg" /><div class="section" id="general">
+<h2>General<a class="headerlink" href="#general" title="Permalink to this headline">¶</a></h2>
+<p>Conan is an open source, decentralized and multi-platform package manager to create and share native binaries.</p>
+<p>To learn more about Conan itself you can visit <a class="reference external" href="https://conan.io/">Conan</a>.</p>
+<p>Conan is used in the <strong>openPASS</strong> project to create and manage the binaries of the used ThirdParty libraries.</p>
+</div>
+<div class="section" id="additional-prerequisites">
+<h2>Additional Prerequisites<a class="headerlink" href="#additional-prerequisites" title="Permalink to this headline">¶</a></h2>
+<p>To be able to work with Conan it´s necessary to add additional packages.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows (MSYS2)</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux (Debian Bullseye)</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pip install conan
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>apt install conan
+</pre></div>
+</div>
+</div></div>
+</div>
+<div class="section" id="export-recipes">
+<h2>Export Recipes<a class="headerlink" href="#export-recipes" title="Permalink to this headline">¶</a></h2>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>A <em>recipe</em> is python file, which is used by conan to build and create a package.
+In this file there are several hooks available, which can be used for several tasks.
+E.g. Retrieving the source files, building from source, configuring dependencies, packaging, etc.
+Visit <a class="reference external" href="https://conan.io/">Conan</a>. for detailed information about <em>recipes</em>.</p>
+</div>
+<p>To make Conan aware and to use the custom recipes for the ThirdParty libraries, these recipes have to be exported to the <em>local cache</em> of Conan.
+This can be done in different ways.</p>
+<div class="section" id="conan-export">
+<h3>Conan Export<a class="headerlink" href="#conan-export" title="Permalink to this headline">¶</a></h3>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> <path to conanfile.py of recipe>
+conan <span class="nb">export</span> . <optional user>/<optional channel>
+</pre></div>
+</div>
+<p>The optional user and channel flags can be used to export a recipe while it´s still in development.
+In that case there could be several different versions and their corresponding binaries of the same library available at the same time.
+The <em>local cache</em> could then show the following packages.
+E.g.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>packagename/3.2.0
+packagename/3.2.0@openpassWG/stable
+packagename/3.3.0@myUserName/testing
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>At least this step has to be done in prior before any ThirdParty library can be installed by Conan.
+Every upcoming step is optional, but can be useful while developing or debugging.
+Also with these steps it´s possible to install ThirdParty libraries separately.</p>
+</div>
+</div>
+<div class="section" id="conan-install">
+<h3>Conan Install<a class="headerlink" href="#conan-install" title="Permalink to this headline">¶</a></h3>
+<p>Conan is now able to differentiate different version and the user can now install exactly the version he wishes to.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>conan install <package_name>
+</pre></div>
+</div>
+<p>This command has a look into the <em>local cache</em> for the recipe and the binaries of the package and installs them into the <em>local cache</em>.
+If no binaries where found an error is thrown.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>To make conan also build the package the command can be appended with the following argument: <code class="docutils literal notranslate"><span class="pre">--build=missing</span></code>.</p>
+</div>
+</div>
+<div class="section" id="conan-create">
+<h3>Conan Create<a class="headerlink" href="#conan-create" title="Permalink to this headline">¶</a></h3>
+<p>Both of the previous commands can be combined with the <code class="docutils literal notranslate"><span class="pre">create`</span></code> command. What it basically does is calling <code class="docutils literal notranslate"><span class="pre">export</span></code> and <code class="docutils literal notranslate"><span class="pre">install</span></code> after another.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> <path to conanfile.py of recipe>
+conan create . <optional user>/<optional channel>
+</pre></div>
+</div>
+<p>At this step the binaries of this package are now available in the <em>local cache</em>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>There are several additional commands, arguments and fields for these commands available.
+Please see <a class="reference external" href="https://docs.conan.io/en/latest/">Conan Docs</a> for additional information.</p>
+</div>
+</div>
+</div>
+<div class="section" id="build-op">
+<h2>Build <strong>openPASS</strong><a class="headerlink" href="#build-op" title="Permalink to this headline">¶</a></h2>
+<p>If you followed the previous steps and export all dependencies and <strong>openPASS</strong> recipes to Conans <em>local cache</em>, then you can go on with the next steps.
+If not then at least the <code class="docutils literal notranslate"><span class="pre">export</span></code> should be done.
+Else Conan is not able to know how to build the dependencies and <strong>openPASS</strong>.</p>
+<p><strong>openPASS</strong> can be build using a <code class="docutils literal notranslate"><span class="pre">conanfile.txt</span></code>.
+It holds every Information which is needed to build and install <strong>openPASS</strong>.</p>
+<p>The following file shows an example which can be used.
+This example is also available in the <code class="docutils literal notranslate"><span class="pre">conan</span></code> folder in the <code class="docutils literal notranslate"><span class="pre">simopenpass</span></code> repository.</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">[</span><span class="n">requires</span><span class="p">]</span>
+ <span class="n">openpass</span><span class="o">/</span><span class="mf">0.8</span>
+
+<span class="p">[</span><span class="n">generators</span><span class="p">]</span>
+ <span class="n">cmake</span>
+
+<span class="p">[</span><span class="n">imports</span><span class="p">]</span>
+ <span class="o">.</span> <span class="p">,</span> <span class="o">*</span> <span class="o">-></span> <span class="n">C</span><span class="p">:</span><span class="o">/</span><span class="n">openpass</span> <span class="o">@</span>
+</pre></div>
+</div>
+<p>The <code class="docutils literal notranslate"><span class="pre">requires</span></code> field describes what package with what version shall be installed.
+It´s also possible to add more packages here or change the version.</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">generator</span></code> field is used to add different generators to the process.
+In this example the <code class="docutils literal notranslate"><span class="pre">cmake</span></code> generator would generate cmake files, which describe where to find the <strong>openPASS</strong> in the <em>local cache</em>.
+There are also other possibilities like a <code class="docutils literal notranslate"><span class="pre">cmake_find_package</span></code> generator, which generates <em>cmake</em> <em>FindPackage</em> files.</p>
+<p>At this point <strong>openPASS</strong> only exists in the <em>local cache</em> of Conan.
+With the <code class="docutils literal notranslate"><span class="pre">imports</span></code> field it´s possible to specify where and how the binaries shall be copied from the <em>local cache</em> to the <em>user space</em>.
+The example follows the following pattern:</p>
+<blockquote>
+<div><p><source>, <pattern> -> <destination></p>
+</div></blockquote>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It is possible to add several lines for more specific copying operations.
+Also there are more field available than this simple example shows.
+See <a class="reference external" href="https://docs.conan.io/en/latest/">Conan Docs</a> for additional information.</p>
+</div>
+<p>Conan can simply install <strong>openPASS</strong> with the following command.
+If the dependencies or <strong>openPASS</strong> were not build in any previous step, the binaries will not be available in the <em>local cache</em> of Conan.
+Conan can build them by adding <code class="docutils literal notranslate"><span class="pre">--build=missing</span></code> to the following command.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>conan install <path to conanfile.txt>
+</pre></div>
+</div>
+</div>
+<div class="section" id="build-only-thirdparties">
+<h2>Build only ThirdParties<a class="headerlink" href="#build-only-thirdparties" title="Permalink to this headline">¶</a></h2>
+<p>The ThirdParty libraries can be build and installed the same way.</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">[</span><span class="n">requires</span><span class="p">]</span>
+ <span class="n">OSI</span><span class="o">/</span><span class="mf">3.2</span><span class="o">.</span><span class="mi">0</span>
+ <span class="n">FMILibrary</span><span class="o">/</span><span class="mf">2.0</span><span class="o">.</span><span class="mi">3</span>
+
+<span class="p">[</span><span class="n">generators</span><span class="p">]</span>
+ <span class="n">cmake_find_package</span>
+ <span class="n">cmake_paths</span>
+
+<span class="p">[</span><span class="n">imports</span><span class="p">]</span>
+ <span class="o">.</span> <span class="p">,</span> <span class="o">*</span> <span class="o">-></span> <span class="n">C</span><span class="p">:</span><span class="o">/</span><span class="n">openpass</span><span class="o">/</span><span class="n">ThirdParty</span> <span class="o">@</span>
+</pre></div>
+</div>
+</div>
+</div>
+
+
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+
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+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
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+<li class="toctree-l1"><a class="reference internal" href="../20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../30_install_openpass.html">Installing OpenPASS</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../50_further_guidance.html">Further Guidance</a><ul class="current">
+<li class="toctree-l2 current"><a class="current reference internal" href="#">CMake Variables and Options</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#cmake-generator">CMake Generator</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#cmake-prefix-path">CMAKE_PREFIX_PATH</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#cmake-install-prefix">CMAKE_INSTALL_PREFIX</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#cmake-with-debug-postix">CMAKE_WITH_DEBUG_POSTIX</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#cmake-build-type">CMAKE_BUILD_TYPE</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#cmake-c-compiler">CMAKE_C_COMPILER</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#cmake-cxx-compiler">CMAKE_CXX_COMPILER</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#cmake-object-path-max">CMAKE_OBJECT_PATH_MAX</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#use-ccache">USE_CCACHE</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#with-simcore">WITH_SIMCORE</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="#with-endtoend-tests">WITH_ENDTOEND_TESTS</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#openpass-adjust-output">OPENPASS_ADJUST_OUTPUT</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#with-extended-osi">WITH_EXTENDED_OSI</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#with-protobuf-arena">WITH_PROTOBUF_ARENA</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#install-system-runtime-deps">INSTALL_SYSTEM_RUNTIME_DEPS</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#install-extra-runtime-deps">INSTALL_EXTRA_RUNTIME_DEPS</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#make-targets-commands">Make Targets/Commands</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#build-and-install">Build and Install</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#executing-tests">Executing Tests</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="40_custom_proto.html">Custom Protobuf Build</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption"><span class="caption-text">User Guides</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/10_overview.html">Overview</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/20_tutorials.html">Tutorials</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/40_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../user_guide/60_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
+<ul>
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+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
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+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul>
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+ <div class="section" id="cmake-variables-and-options">
+<span id="cmake"></span><h1>CMake Variables and Options<a class="headerlink" href="#cmake-variables-and-options" title="Permalink to this headline">¶</a></h1>
+<p><strong>OpenPASS</strong> uses CMake as default cross-platform build environment.
+CMake varibles describe configuration settings, which can be overriden by the user.
+To override any build configuration, the CMake variables have to be provided when CMake gets run.</p>
+<p>If available, recommended options are shown in <strong>bold</strong>.</p>
+<p>The following guide is structered as follows: The first part describes the available variables and options.
+There are standard CMake variables which are marked with the prefix <code class="docutils literal notranslate"><span class="pre">CMAKE_</span></code> and other defined variables
+used internally to further specify the build of <strong>openPASS</strong>. As the result of a proper CMake call is a Makefile,
+which then acts as base for the actual build using <code class="docutils literal notranslate"><span class="pre">make</span></code>, the second part describes best practices around the make commands using <code class="docutils literal notranslate"><span class="pre">make</span></code>.</p>
+<p>Note, this guide approaches CMake from the <em>command line perspective</em>.
+Adjustments for VSCode and QtCreator can be found under <a class="reference internal" href="../../developer_information/ide_support/30_vscode.html#vscode"><span class="std std-ref">Working with Visual Studio Code</span></a> and <a class="reference internal" href="../../developer_information/ide_support/20_qt_creator.html#qtcreator"><span class="std std-ref">Working with Qt Creator</span></a>.</p>
+<div class="admonition-see-also admonition">
+<p class="admonition-title">See also</p>
+<p>CMake Documentation: <a class="reference external" href="https://cmake.org/cmake/help/latest/index.html">https://cmake.org/cmake/help/latest/index.html</a></p>
+</div>
+<div class="section" id="cmake-generator">
+<h2>CMake Generator<a class="headerlink" href="#cmake-generator" title="Permalink to this headline">¶</a></h2>
+<p>This is only important for <strong>Windows</strong>.
+To generate MSYS compatible makefiles use <code class="docutils literal notranslate"><span class="pre">-G</span> <span class="pre">"MSYS</span> <span class="pre">Makefiles"</span></code> (c.f. <a class="reference internal" href="../20_install_prerequisites.html#msys2"><span class="std std-ref">MSYS2</span></a>).</p>
+</div>
+<div class="section" id="cmake-prefix-path">
+<span id="id1"></span><h2>CMAKE_PREFIX_PATH<a class="headerlink" href="#cmake-prefix-path" title="Permalink to this headline">¶</a></h2>
+<p>This variable makes the prerequisites available to <strong>openPASS</strong> as semicolon-separated list of directories,
+specifying installation prefixes to be searched by cmake.
+Please refer to <a class="reference internal" href="../20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a> for the list of mandatory packages and libraries.
+CMake will issue an error, if one prerequisite is missing.</p>
+<p>Generally, cmake recognizes installed libraries (e.g. googletest) on its own.
+By setting an explicit <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code> for a library, it is possible to override the system libraries.
+Use this, when an exact library version, or a customized library shall be used.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>In the following example, non-standard libraries are assumed to be in the folder <code class="docutils literal notranslate"><span class="pre">deps/thirdParty</span></code>.</p>
+</div>
+<p><strong>Example</strong> (system libraries <strong>not</strong> set):</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake -G <span class="s2">"MSYS Makefiles"</span>
+ -D <span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">"\</span>
+<span class="s2"> /mingw64/bin;\</span>
+<span class="s2"> </span><span class="nv">$PWD</span><span class="s2">/../deps/thirdParty/win64/FMILibrary;\</span>
+<span class="s2"> </span><span class="nv">$PWD</span><span class="s2">/../deps/thirdParty/win64/osi;\</span>
+<span class="s2"> </span><span class="nv">$PWD</span><span class="s2">/../deps/thirdParty/win64/minizip;\</span>
+<span class="s2"> -D <other variables>\</span>
+<span class="s2"> ..</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake -D <span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="se">\</span>
+ <span class="nv">$PWD</span>/../deps/thirdParty/linux64/FMILibrary<span class="se">\;\</span>
+ <span class="nv">$PWD</span>/../deps/thirdParty/linux64/osi<span class="se">\;\</span>
+ <span class="nv">$PWD</span>/../deps/thirdParty/linux64/minizip<span class="se">\;\</span>
+ -D <other variables> <span class="se">\</span>
+ ..
+</pre></div>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>The semicolon <code class="docutils literal notranslate"><span class="pre">;</span></code> needs to be escaped (<code class="docutils literal notranslate"><span class="pre">\;</span></code>) unless the string is quoted.</p>
+</div>
+</div></div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Please also read through <a class="reference internal" href="#cmake-openpass-variables"><span class="std std-ref">USE_CCACHE</span></a> for further useful hints, e.g. why explicitly setting the MinGW path might be a necessary in some situations.</p>
+</div>
+<p>Installation directory</p>
+</div>
+<div class="section" id="cmake-install-prefix">
+<h2>CMAKE_INSTALL_PREFIX<a class="headerlink" href="#cmake-install-prefix" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Install directory used by install, when invoking <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code></p></li>
+<li><p>Recommendation: <code class="docutils literal notranslate"><span class="pre">/OpenPASS/bin/core</span></code> (Linux) | <code class="docutils literal notranslate"><span class="pre">C:/OpenPASS/bin/core</span></code> (Windows)</p></li>
+</ul>
+</div>
+<div class="section" id="cmake-with-debug-postix">
+<h2>CMAKE_WITH_DEBUG_POSTIX<a class="headerlink" href="#cmake-with-debug-postix" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Used only in conjunction with <em>Visual Studio Debug Builds</em> (MSVC), as it distinguishes release/debug DLLs by a postfix <code class="docutils literal notranslate"><span class="pre">d</span></code>.</p></li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+</ul>
+</div>
+<div class="section" id="cmake-build-type">
+<h2>CMAKE_BUILD_TYPE<a class="headerlink" href="#cmake-build-type" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Specifies the build type on single-configuration generators.</p></li>
+<li><p>Typical: Release | Debug</p></li>
+<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html">https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html</a></p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>IDEs, as Qt Creator, might set this variable base on the current build type on their own.</p>
+</div>
+</div>
+<div class="section" id="cmake-c-compiler">
+<h2>CMAKE_C_COMPILER<a class="headerlink" href="#cmake-c-compiler" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Options: <strong>gcc-10</strong> | gcc-9 | gcc-8</p></li>
+<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html">https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html</a></p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>IDEs, as Qt Creator, might set this variable via <em>kit</em> settings.</p>
+</div>
+</div>
+<div class="section" id="cmake-cxx-compiler">
+<h2>CMAKE_CXX_COMPILER<a class="headerlink" href="#cmake-cxx-compiler" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Options: <strong>g++-10</strong> | g++-9 | g++-8</p></li>
+<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html">https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html</a></p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>IDEs, as Qt Creator, might set this variable via <em>kit</em> settings.</p>
+</div>
+</div>
+<div class="section" id="cmake-object-path-max">
+<h2>CMAKE_OBJECT_PATH_MAX<a class="headerlink" href="#cmake-object-path-max" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Under windows, errors from too long paths could be prevented by setting this value to 255 (maximum).</p></li>
+<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html">https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html</a></p></li>
+</ul>
+</div>
+<div class="section" id="use-ccache">
+<span id="cmake-openpass-variables"></span><h2>USE_CCACHE<a class="headerlink" href="#use-ccache" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Activates ccache (see <a class="reference internal" href="../../other_information/10_external_dependencies.html#prerequisites-ccache"><span class="std std-ref">Ccache</span></a>)</p></li>
+<li><p>Options: <strong>ON</strong> | OFF</p></li>
+</ul>
+</div>
+<div class="section" id="with-simcore">
+<h2>WITH_SIMCORE<a class="headerlink" href="#with-simcore" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Build OSI based scenario simulation, also know as openPASS simulation core (opSimulation).</p></li>
+<li><p>Options: OFF | <strong>ON</strong></p></li>
+</ul>
+</div>
+<div class="section" id="with-doc">
+<h2>WITH_DOC<a class="headerlink" href="#with-doc" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Build sphinx based documentation</p></li>
+<li><p>Options: OFF | <strong>ON</strong></p></li>
+</ul>
+</div>
+<div class="section" id="with-api-doc">
+<h2>WITH_API_DOC<a class="headerlink" href="#with-api-doc" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Build sphinx based developer documentation</p></li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Automatically activates <code class="docutils literal notranslate"><span class="pre">WITH_DOC</span></code> if ON</p>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Building the API doc takes pretty long.</p>
+</div>
+</div>
+<div class="section" id="with-coverage">
+<h2>WITH_COVERAGE<a class="headerlink" href="#with-coverage" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Add test targets for code coverage analysis (lcov) and HTML report generation (genhtml)</p></li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+<li><p>Use <code class="docutils literal notranslate"><span class="pre">COVERAGE_EXCLUDE</span></code> to remove folders from the analysis</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The generated files are placed next to the test executable.
+Each test will be built without optimization, which will increase the testing run-time.</p>
+</div>
+</div>
+<div class="section" id="with-gui">
+<h2>WITH_GUI<a class="headerlink" href="#with-gui" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Activates the additional build of the GUI provided with <strong>OpenPASS</strong> (open source).</p></li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Please refer to <span class="xref std std-ref">gui_user_guide</span> for information on the GUI.</p>
+</div>
+</div>
+<div class="section" id="with-tests">
+<h2>WITH_TESTS<a class="headerlink" href="#with-tests" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Build unit tests</p></li>
+<li><p>Options: OFF | <strong>ON</strong></p></li>
+</ul>
+</div>
+<div class="section" id="with-endtoend-tests">
+<h2>WITH_ENDTOEND_TESTS<a class="headerlink" href="#with-endtoend-tests" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Enables execution of end to end tests using <a class="reference internal" href="../../advanced_topics/30_testing.html#testing-endtoend"><span class="std std-ref">EndToEnd Test Framework</span></a>.</p></li>
+<li><p>Tests can be ran by executing <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span> <span class="pre">&&</span> <span class="pre">make</span> <span class="pre">pyOpenPASS</span></code></p></li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+</ul>
+</div>
+<div class="section" id="openpass-adjust-output">
+<h2>OPENPASS_ADJUST_OUTPUT<a class="headerlink" href="#openpass-adjust-output" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Adjusts if builds are executed in the (CMake default) folder <code class="docutils literal notranslate"><span class="pre">build</span></code> or directly in the specified install directory.
+Latter mimics the former qmake behavior let you skip the call <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>.</p></li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+</ul>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>When skipping <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>, dependencies are not copied into the output folder, which could cause crashes due to missing or outdated libraries.</p>
+</div>
+</div>
+<div class="section" id="with-extended-osi">
+<span id="cmake-protobuf-arenas"></span><h2>WITH_EXTENDED_OSI<a class="headerlink" href="#with-extended-osi" title="Permalink to this headline">¶</a></h2>
+<ul>
+<li><p>When set, assumes that extended version of OSI is available, by enabling the <code class="docutils literal notranslate"><span class="pre">USE_EXTENDED_OSI</span></code> preprocessor variable.</p></li>
+<li><p>This variable can be used to enable e.g. customized OSI features:</p>
+<blockquote>
+<div><div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="cp">#ifdef USE_EXTENDED OSI</span>
+<span class="cp">#include</span> <span class="cpf">"osi3/osi_<custom_message>.pb.h"</span><span class="cp"></span>
+<span class="cp">#endif</span>
+</pre></div>
+</div>
+</div></blockquote>
+</li>
+<li><p>Options: <strong>OFF</strong> | ON</p></li>
+</ul>
+</div>
+<div class="section" id="with-protobuf-arena">
+<h2>WITH_PROTOBUF_ARENA<a class="headerlink" href="#with-protobuf-arena" title="Permalink to this headline">¶</a></h2>
+<ul>
+<li><div class="line-block">
+<div class="line"><em>Arena allocation is a C++-only feature that helps you optimize your memory usage and improve performance when working with protocol buffers.</em></div>
+<div class="line">(from <a class="reference external" href="https://developers.google.com/protocol-buffers/docs/reference/arenas">https://developers.google.com/protocol-buffers/docs/reference/arenas</a>)</div>
+</div>
+</li>
+<li><p>Options: <strong>ON</strong> | OFF</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This feature is only available, if protobuf related libraries are also compiled with arenas (see <a class="reference internal" href="../20_install_prerequisites.html#building-osi"><span class="std std-ref">Build and Install OSI</span></a>).
+Fortunately, the implementation falls back to regular allocation if not, which simply results in less performance.</p>
+</div>
+</div>
+<div class="section" id="install-system-runtime-deps">
+<h2>INSTALL_SYSTEM_RUNTIME_DEPS<a class="headerlink" href="#install-system-runtime-deps" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>during installation step, this configuration copies detected system runtime dependencies to install directory (i.e. MinGW system libraries)</p></li>
+<li><p>Options: ON | <strong>OFF</strong></p></li>
+</ul>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Under windows, automatic resolution might fail if other MinGW instances are installed.
+As several programs use MinGW under the hood, it is recommended to set the used MinGW path in the CMAKE_PREFIX_PATH explicitly:</p>
+<blockquote>
+<div><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nv">CMAKE_PREFIX_PATH</span> <span class="o">=</span> mingw64/bin<span class="p">;</span><span class="se">\.</span>..
+</pre></div>
+</div>
+</div></blockquote>
+</div>
+</div>
+<div class="section" id="install-extra-runtime-deps">
+<h2>INSTALL_EXTRA_RUNTIME_DEPS<a class="headerlink" href="#install-extra-runtime-deps" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>during installation step, this configuration copies detected runtime dependencies (i.e. required shared libraries) specified in <cite>CMAKE_PREFIX_PATH</cite> to install directory</p></li>
+<li><p>Options: ON | <strong>OFF</strong></p></li>
+</ul>
+</div>
+<div class="section" id="make-targets-commands">
+<h2>Make Targets/Commands<a class="headerlink" href="#make-targets-commands" title="Permalink to this headline">¶</a></h2>
+<p><strong>OpenPASS</strong> defines build targets by major modules or components, such as <code class="docutils literal notranslate"><span class="pre">opSimulation</span></code> or <code class="docutils literal notranslate"><span class="pre">Algorithm_FmuWrapper</span></code>.
+After calling CMake, simply build <strong>openPASS</strong> by calling <code class="docutils literal notranslate"><span class="pre">make</span></code>.</p>
+<div class="admonition-see-also admonition">
+<p class="admonition-title">See also</p>
+<p><a class="reference external" href="https://www.tutorialspoint.com/unix_commands/make.htm">https://www.tutorialspoint.com/unix_commands/make.htm</a></p>
+</div>
+<div class="section" id="build-and-install">
+<h3>Build and Install<a class="headerlink" href="#build-and-install" title="Permalink to this headline">¶</a></h3>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">make</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code></p>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre"><target></span></code>: Build a single target</p></li>
+</ul>
+</div>
+<div class="section" id="executing-tests">
+<h3>Executing Tests<a class="headerlink" href="#executing-tests" title="Permalink to this headline">¶</a></h3>
+<ul class="simple">
+<li><p>All tests: <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">test</span> <span class="pre">ARGS="--output-on-failure</span> <span class="pre">-j3"</span></code></p></li>
+<li><p>Single test: <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">test</span> <span class="pre">opSimulation_Tests</span> <span class="pre">ARGS="--output-on-failure</span> <span class="pre">-j3"</span></code></p></li>
+</ul>
+</div>
+</div>
+</div>
+
+
+ </div>
+
+ </div>
+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+ <a href="40_custom_proto.html" class="btn btn-neutral float-right" title="Custom Protobuf Build" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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+
+ <hr/>
+
+ <div role="contentinfo">
+ <p>
+ © Copyright 2021 OpenPASS Working Group.
+
+ </p>
+ </div>
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+<li class="toctree-l1 current"><a class="reference internal" href="../50_further_guidance.html">Further Guidance</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="10_cmake.html">CMake Variables and Options</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Custom Protobuf Build</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#build-and-install-protobuf">Build and Install Protobuf</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#hook-protobuf-into-osi">Hook Protobuf into OSI</a></li>
+</ul>
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+
+ <div class="section" id="custom-protobuf-build">
+<span id="building-protobuf"></span><h1>Custom Protobuf Build<a class="headerlink" href="#custom-protobuf-build" title="Permalink to this headline">¶</a></h1>
+<div class="section" id="build-and-install-protobuf">
+<h2>Build and Install Protobuf<a class="headerlink" href="#build-and-install-protobuf" title="Permalink to this headline">¶</a></h2>
+<p>As Protobuf can be installed easily as binary package in different versions (see <a class="reference internal" href="../20_install_prerequisites.html#binary-packages"><span class="std std-ref">Installing the Binary Packages</span></a>) via appropiate package managing systems, there is no need to build protobuf from source.
+However, if a custom build is necessary, this section gives instructions, how to compile version 3.11.4. and hook it into the <strong>openPASS</strong> build.
+Adjust this guide to your needs.</p>
+<ol class="arabic">
+<li><p>Download release 3.11.4 from <a class="reference external" href="https://github.com/protocolbuffers/protobuf/releases">https://github.com/protocolbuffers/protobuf/releases</a></p></li>
+<li><p>Extract</p>
+<ul class="simple">
+<li><p>for Windows to <code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\thirdParty\sources\protobuf-cpp-3.11.4</span></code></p></li>
+<li><p>for Linux to <code class="docutils literal notranslate"><span class="pre">~/OpenPASS/thirdParty/sources/protobuf-cpp-3.11.4</span></code></p></li>
+</ul>
+</li>
+<li><p>Navigate to the extracted folder</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">/</span><span class="n">C</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">sources</span><span class="o">/</span><span class="n">protobuf</span><span class="o">-</span><span class="n">cpp</span><span class="o">-</span><span class="mf">3.11</span><span class="o">.</span><span class="mi">4</span>
+</pre></div>
+</div>
+</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><p>Start <code class="docutils literal notranslate"><span class="pre">Bash</span></code> shell</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="o">~/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">sources</span><span class="o">/</span><span class="n">protobuf</span><span class="o">-</span><span class="n">cpp</span><span class="o">-</span><span class="mf">3.11</span><span class="o">.</span><span class="mi">4</span>
+</pre></div>
+</div>
+</div></div>
+</li>
+<li><p>Create build directory</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cd</span> <span class="n">cmake</span>
+<span class="n">mkdir</span> <span class="n">build</span>
+<span class="n">cd</span> <span class="n">build</span>
+</pre></div>
+</div>
+</li>
+<li><p>Run Cmake</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">G</span> <span class="s2">"MSYS Makefiles"</span> \
+ <span class="o">-</span><span class="n">DCMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
+ <span class="o">-</span><span class="n">DCMAKE_INSTALL_PREFIX</span><span class="o">=</span><span class="n">C</span><span class="p">:</span><span class="o">/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">protobuf</span> \
+ <span class="o">-</span><span class="n">Dprotobuf_BUILD_SHARED_LIBS</span><span class="o">=</span><span class="n">ON</span> \
+ <span class="o">-</span><span class="n">Dprotobuf_BUILD_TESTS</span><span class="o">=</span><span class="n">OFF</span> \
+<span class="hll"> <span class="o">..</span>
+</span></pre></div>
+</div>
+</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">DCMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
+ <span class="o">-</span><span class="n">DCMAKE_INSTALL_PREFIX</span><span class="o">=~/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">protobuf</span> \
+ <span class="o">-</span><span class="n">Dprotobuf_BUILD_SHARED_LIBS</span><span class="o">=</span><span class="n">ON</span> \
+ <span class="o">-</span><span class="n">Dprotobuf_BUILD_TESTS</span><span class="o">=</span><span class="n">OFF</span> \
+<span class="hll"> <span class="o">..</span>
+</span></pre></div>
+</div>
+</div></div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Tests are disabled due to compiler warnings treated as errors (may vary with compiler version).</p>
+</div>
+</li>
+<li><p>Compile</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="o">-</span><span class="n">j3</span>
+</pre></div>
+</div>
+</li>
+<li><p>Install</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">make</span> <span class="n">install</span>
+</pre></div>
+</div>
+</li>
+</ol>
+</div>
+<div class="section" id="hook-protobuf-into-osi">
+<h2>Hook Protobuf into OSI<a class="headerlink" href="#hook-protobuf-into-osi" title="Permalink to this headline">¶</a></h2>
+<p>If you want to build and install OSI with a custom build of Protobuf, most of the
+steps can be followed as described in instruction <a class="reference internal" href="../20_install_prerequisites.html#building-osi"><span class="std std-ref">Build and Install OSI</span></a>. However, one
+step must be added.</p>
+<p>For all required steps <em>before</em> the following command, see <a class="reference internal" href="../20_install_prerequisites.html#building-osi"><span class="std std-ref">Build and Install OSI</span></a>.</p>
+<ol class="arabic">
+<li><p>Additional <code class="docutils literal notranslate"><span class="pre">CMake</span></code> variables have to be set.</p>
+<div class="sphinx-tabs docutils container">
+<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-2-2-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-2-2-0" name="2-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-2-2-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-2-2-1" name="2-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-2-2-0" class="sphinx-tabs-panel" id="panel-2-2-0" name="2-0" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span>cmake -G “MSYS Makefiles” \
+ -DCMAKE_BUILD_TYPE=Release \
+ -DCMAKE_INSTALL_PREFIX=C:/OpenPASS/thirdParty/osi \
+ -DPROTOBUF_INCLUDE_DIR=C:/OpenPASS/thirdParty/protobuf/include \
+ -DPROTOBUF_PROTOC_EXECUTABLE=C:/OpenPASS/thirdParty/protobuf/bin/protoc.exe \
+ -DPROTOBUF_LIBRARY=C:/OpenPASS/thirdParty/protobuf/lib/libprotobuf.a \
+<span class="hll"> ..
+</span></pre></div>
+</div>
+</div><div aria-labelledby="tab-2-2-1" class="sphinx-tabs-panel" hidden="true" id="panel-2-2-1" name="2-1" role="tabpanel" tabindex="0"><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">cmake</span> <span class="o">-</span><span class="n">DCMAKE_BUILD_TYPE</span><span class="o">=</span><span class="n">Release</span> \
+ <span class="o">-</span><span class="n">DCMAKE_INSTALL_PREFIX</span><span class="o">=~/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">osi</span> \
+ <span class="o">-</span><span class="n">DPROTOBUF_INCLUDE_DIR</span><span class="o">=~/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">protobuf</span><span class="o">/</span><span class="n">include</span> \
+ <span class="o">-</span><span class="n">DPROTOBUF_PROTOC_EXECUTABLE</span><span class="o">=~/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">protobuf</span><span class="o">/</span><span class="nb">bin</span><span class="o">/</span><span class="n">protoc</span> \
+ <span class="o">-</span><span class="n">DPROTOBUF_LIBRARY</span><span class="o">=~/</span><span class="n">OpenPASS</span><span class="o">/</span><span class="n">thirdParty</span><span class="o">/</span><span class="n">protobuf</span><span class="o">/</span><span class="n">lib</span><span class="o">/</span><span class="n">libprotobuf</span><span class="o">.</span><span class="n">a</span> \
+<span class="hll"> <span class="o">..</span>
+</span></pre></div>
+</div>
+</div></div>
+</li>
+</ol>
+<p>For all required steps <em>after</em> this stage, see <a class="reference internal" href="../20_install_prerequisites.html#building-osi"><span class="std std-ref">Build and Install OSI</span></a>.</p>
+</div>
+</div>
+
+
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+
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+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+ <a href="../60_conan.html" class="btn btn-neutral float-right" title="Building with Conan" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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deleted file mode 100644
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+++ /dev/null
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-
- <div class="section" id="working-with-vscode">
-<h1>Working with VSCode<a class="headerlink" href="#working-with-vscode" title="Permalink to this headline">¶</a></h1>
-<p>This section describes the basic setup for Visual Studio Code.
-Use it as a template for starting.</p>
-<div class="figure align-center" id="id1">
-<a class="reference internal image-reference" href="../../../_images/vscode.png"><img alt="../../../_images/vscode.png" src="../../../_images/vscode.png" style="width: 794.4px; height: 427.8px;" /></a>
-<p class="caption"><span class="caption-text">Proper setup VSCode showing <strong>left</strong>, debugging, testmate, and cmake pane selectors, and at the <strong>bottom</strong>, build type, kit, current target, and CTest runner.</span><a class="headerlink" href="#id1" title="Permalink to this image">¶</a></p>
-</div>
-<div class="section" id="assumptions">
-<h2>Assumptions<a class="headerlink" href="#assumptions" title="Permalink to this headline">¶</a></h2>
-<ul class="simple">
-<li><p>For Windows, it is expected, that a <strong>MSYS2/MinGW 64 Bit</strong> is used.</p></li>
-<li><p>For brevity, non-standard libraries are expected to be in the folder <code class="docutils literal notranslate"><span class="pre">deps/thirdParty</span></code>.</p></li>
-</ul>
-</div>
-<div class="section" id="install-and-config">
-<h2>Install and Config<a class="headerlink" href="#install-and-config" title="Permalink to this headline">¶</a></h2>
-<ol class="arabic">
-<li><p>Install Visual Studio Code</p></li>
-<li><p>Install extensions</p>
-<ul class="simple">
-<li><p>C/C++</p></li>
-<li><p>CMake Tools</p></li>
-<li><p>C++ Testmate</p></li>
-</ul>
-</li>
-<li><p>Open the repository as folder, e.g. by calling <code class="docutils literal notranslate"><span class="pre">code</span> <span class="pre">simopenpass</span></code> after checking out.
-If CMakeTools are setup right, it should as, if you like to configure it now and always on opening.
-Say yes to configuration, which will create a <code class="docutils literal notranslate"><span class="pre">build</span></code> folder, but fails to do more (config follows below).</p></li>
-<li><p><strong>Windows only</strong> Make Kit available:</p>
-<ol class="arabic">
-<li><p><code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Edit</span> <span class="pre">User-Local</span> <span class="pre">CMake</span> <span class="pre">Kits</span></code></p></li>
-<li><p>Insert/Update:</p>
-<div class="highlight-JSON notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
- <span class="nt">"name"</span><span class="p">:</span> <span class="s2">"MinGW64 GCC"</span><span class="p">,</span>
- <span class="nt">"compilers"</span><span class="p">:</span> <span class="p">{</span>
- <span class="nt">"C"</span><span class="p">:</span> <span class="s2">"C:\\msys64\\mingw64\\bin\\gcc.exe"</span><span class="p">,</span>
- <span class="nt">"CXX"</span><span class="p">:</span> <span class="s2">"C:\\msys64\\mingw64\\bin\\g++.exe"</span>
- <span class="p">},</span>
- <span class="nt">"preferredGenerator"</span><span class="p">:</span> <span class="p">{</span>
- <span class="nt">"name"</span><span class="p">:</span> <span class="s2">"MinGW Makefiles"</span>
- <span class="p">},</span>
- <span class="nt">"environmentVariables"</span><span class="p">:</span> <span class="p">{</span>
- <span class="nt">"PATH"</span><span class="p">:</span> <span class="s2">"C:\\msys64\\mingw64\\bin"</span>
- <span class="p">}</span>
-<span class="p">}</span>
-</pre></div>
-</div>
-</li>
-</ol>
-<p>+. <code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Select</span> <span class="pre">a</span> <span class="pre">Kit</span></code> = <code class="docutils literal notranslate"><span class="pre">MinGW64</span> <span class="pre">GCC</span></code></p>
-</li>
-<li><p>Configure:</p>
-<ol class="arabic">
-<li><p><code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">Preferences</span> <span class="pre">Open</span> <span class="pre">Workspace</span> <span class="pre">Settings</span> <span class="pre">(JSON)</span></code></p></li>
-<li><p>Insert/Update:</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-JSON notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
- <span class="nt">"cmake.cmakePath"</span><span class="p">:</span> <span class="s2">"C:\\msys64\\mingw64\\bin\\cmake.exe"</span><span class="p">,</span>
- <span class="nt">"cmake.mingwSearchDirs"</span><span class="p">:</span> <span class="p">[</span>
- <span class="s2">"C:\\msys64\\mingw64\\bin"</span>
- <span class="p">],</span>
- <span class="nt">"cmake.generator"</span><span class="p">:</span> <span class="s2">"MinGW Makefiles"</span><span class="p">,</span>
- <span class="nt">"cmake.parallelJobs"</span><span class="p">:</span> <span class="mi">2</span><span class="p">,</span>
- <span class="nt">"cmake.configureArgs"</span><span class="p">:</span> <span class="p">[</span>
- <span class="s2">"-DCMAKE_PREFIX_PATH=${workspaceRoot}/deps/thirdParty/win64/FMILibrary;${workspaceRoot}/deps/thirdParty/win64/osi"</span><span class="p">,</span>
- <span class="s2">"-DUSE_CCACHE=ON"</span><span class="p">,</span>
- <span class="s2">"-DWITH_EXTENDED_OSI=ON"</span><span class="p">,</span>
- <span class="s2">"-DWITH_DEBUG_POSTFIX=OFF"</span><span class="p">,</span>
- <span class="s2">"-DOPENPASS_ADJUST_OUTPUT=OFF"</span>
- <span class="p">]</span>
-<span class="p">}</span>
-</pre></div>
-</div>
-</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-JSON notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
- <span class="nt">"cmake.parallelJobs"</span><span class="p">:</span> <span class="mi">2</span><span class="p">,</span>
- <span class="nt">"cmake.configureArgs"</span><span class="p">:</span> <span class="p">[</span>
- <span class="s2">"-DCMAKE_PREFIX_PATH=${workspaceRoot}/deps/thirdParty/linux64/FMILibrary;${workspaceRoot}/deps/thirdParty/linux64/osi"</span><span class="p">,</span>
- <span class="s2">"-DUSE_CCACHE=ON"</span><span class="p">,</span>
- <span class="s2">"-DCMAKE_INSTALL_PREFIX=/OpenPASS/bin"</span>
- <span class="p">]</span>
-<span class="p">}</span>
-</pre></div>
-</div>
-</div></div>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code>: <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Configure</span></code> - cmake should now be able to configure the project.
-If not, cmake should give you at least a hint, what’s missing (normally external libraries).
-Read <a class="reference internal" href="../installation/40_cmake.html#cmake"><span class="std std-ref">Cmake Build Environment</span></a> or <a class="reference internal" href="../installation/20_prerequisites.html#prerequisites"><span class="std std-ref">Prerequisites</span></a> for more information.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>When changing libraries, it’s recommended to wipe the cmake cache before reconfiguration:
-<code class="docutils literal notranslate"><span class="pre">Ctrk+Shift+P</span></code> > <code class="docutils literal notranslate"><span class="pre">CMake:</span> <span class="pre">Delete</span> <span class="pre">Cache</span> <span class="pre">and</span> <span class="pre">Reconfigure</span></code></p>
-</div>
-</li>
-</ol>
-</li>
-</ol>
-</div>
-<div class="section" id="testing">
-<h2>Testing<a class="headerlink" href="#testing" title="Permalink to this headline">¶</a></h2>
-<p>Testmate discovers tests only after they are built for the first time.
-It pays to run <code class="docutils literal notranslate"><span class="pre">ctest</span></code> on the console to build all test targets.
-After this, you should see all tests in the testing pane on the left.
-If not, check the extension setting <code class="docutils literal notranslate"><span class="pre">testMate.cpp.test.executables</span></code> and <code class="docutils literal notranslate"><span class="pre">testMate.cpp.test.workingDirectory</span></code></p>
-</div>
-<div class="section" id="debugging">
-<h2>Debugging<a class="headerlink" href="#debugging" title="Permalink to this headline">¶</a></h2>
-<p>Cmake offers its own debugging functionality, but does not respect the dependencies between the <strong>openPASS</strong> core and its components.
-This means, it tries to run the executable from within the build folder, e.g. <code class="docutils literal notranslate"><span class="pre">./build/sim/src/core/slave/OpenPassSlave</span></code>.
-Unfortunately, in here, the core does not find any libraries or configurations.</p>
-<p>As a solution, setup a debug target, pointing at the installed executable instead:</p>
-<ol class="arabic simple">
-<li><p>Got to “Run and Debug” (<code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+D</span></code>) and <em>create a launch.json file</em>.</p></li>
-<li><p>Insert/Update:</p></li>
-</ol>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><div class="highlight-JSON notranslate"><div class="highlight"><pre><span></span>{
- "configurations": [
- {
- "name": "Debug OpenPass",
- "type": "cppdbg",
- "request": "launch",
- "program": "C:/OpenPASS/bin/core/OpenPassSlave.exe",
- "args": [],
- "stopAtEntry": false,
- "cwd": "c:/openpass/bin/core",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "miDebuggerPath": "C:/msys64/mingw64/bin/gdb.exe",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- }
-}
-</pre></div>
-</div>
-</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><div class="highlight-JSON notranslate"><div class="highlight"><pre><span></span>{
- "configurations": [
- {
- "name": "Debug OpenPass",
- "type": "cppdbg",
- "request": "launch",
- "program": "/openPASS/bin/core/OpenPassSlave",
- "args": [],
- "stopAtEntry": false,
- "cwd": "/openPASS/bin/core/",
- "environment": [],
- "externalConsole": false,
- "MIMode": "gdb",
- "setupCommands": [
- {
- "description": "Enable pretty-printing for gdb",
- "text": "-enable-pretty-printing",
- "ignoreFailures": true
- }
- ]
- }
-}
-</pre></div>
-</div>
-</div></div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Don’t forget to run the target <code class="docutils literal notranslate"><span class="pre">install</span></code> before debugging.</p>
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-<h1>Working with Qt Creator<a class="headerlink" href="#working-with-qt-creator" title="Permalink to this headline">¶</a></h1>
-<div class="section" id="settings-msys2">
-<h2>Settings (MSYS2)<a class="headerlink" href="#settings-msys2" title="Permalink to this headline">¶</a></h2>
-<div class="section" id="setup-cmake-kit">
-<h3>Setup Cmake-Kit<a class="headerlink" href="#setup-cmake-kit" title="Permalink to this headline">¶</a></h3>
-<ol class="arabic">
-<li><p>Add Cmake under <code class="docutils literal notranslate"><span class="pre">Tools</span> <span class="pre">-></span> <span class="pre">Options</span> <span class="pre">-></span> <span class="pre">Kits</span> <span class="pre">-></span> <span class="pre">Cmake</span></code></p>
-<div class="figure align-center">
-<a class="reference internal image-reference" href="../../../_images/qtcreator_settings_cmake.png"><img alt="../../../_images/qtcreator_settings_cmake.png" src="../../../_images/qtcreator_settings_cmake.png" style="width: 573.0px; height: 442.8px;" /></a>
-</div>
-</li>
-<li><p>Add C and C++ Compilers under <code class="docutils literal notranslate"><span class="pre">Tools</span> <span class="pre">-></span> <span class="pre">Options</span> <span class="pre">-></span> <span class="pre">Kits</span> <span class="pre">-></span> <span class="pre">Compilers</span></code></p>
-<div class="figure align-center">
-<a class="reference internal image-reference" href="../../../_images/qtcreator_settings_g++.png"><img alt="../../../_images/qtcreator_settings_g++.png" src="../../../_images/qtcreator_settings_g++.png" style="width: 573.0px; height: 442.8px;" /></a>
-</div>
-<div class="figure align-center">
-<a class="reference internal image-reference" href="../../../_images/qtcreator_settings_gcc.png"><img alt="../../../_images/qtcreator_settings_gcc.png" src="../../../_images/qtcreator_settings_gcc.png" style="width: 573.0px; height: 442.8px;" /></a>
-</div>
-</li>
-<li><p>Add Debugger under <code class="docutils literal notranslate"><span class="pre">Tools</span> <span class="pre">-></span> <span class="pre">Options</span> <span class="pre">-></span> <span class="pre">Kits</span> <span class="pre">-></span> <span class="pre">Debuggers</span></code></p>
-<div class="figure align-center">
-<a class="reference internal image-reference" href="../../../_images/qtcreator_settings_gdb.png"><img alt="../../../_images/qtcreator_settings_gdb.png" src="../../../_images/qtcreator_settings_gdb.png" style="width: 573.0px; height: 442.8px;" /></a>
-</div>
-</li>
-<li><p>Add Kit under <code class="docutils literal notranslate"><span class="pre">Tools</span> <span class="pre">-></span> <span class="pre">Options</span> <span class="pre">-></span> <span class="pre">Kits</span> <span class="pre">-></span> <span class="pre">Kits</span></code></p>
-<div class="figure align-center">
-<a class="reference internal image-reference" href="../../../_images/qtcreator_settings_kit.png"><img alt="../../../_images/qtcreator_settings_kit.png" src="../../../_images/qtcreator_settings_kit.png" style="width: 573.0px; height: 442.8px;" /></a>
-</div>
-</li>
-<li><p>Adjust <code class="docutils literal notranslate"><span class="pre">Cmake</span> <span class="pre">Generator</span></code> under <code class="docutils literal notranslate"><span class="pre">Tools</span> <span class="pre">-></span> <span class="pre">Options</span> <span class="pre">-></span> <span class="pre">Kits</span> <span class="pre">-></span> <span class="pre">Kits</span></code> to <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">Makefiles</span></code></p>
-<div class="figure align-center">
-<a class="reference internal image-reference" href="../../../_images/qtcreator_settings_cmake_generator.png"><img alt="../../../_images/qtcreator_settings_cmake_generator.png" src="../../../_images/qtcreator_settings_cmake_generator.png" style="width: 169.2px; height: 123.6px;" /></a>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Change the environment variable to <code class="docutils literal notranslate"><span class="pre">MAKEFLAGS=-j4</span></code> (or similar) to enable parallel building on the kit level.</p>
-</div>
-</li>
-</ol>
-</div>
-<div class="section" id="setup-project">
-<h3>Setup Project<a class="headerlink" href="#setup-project" title="Permalink to this headline">¶</a></h3>
-<ol class="arabic">
-<li><p>Load the project by opening a <code class="docutils literal notranslate"><span class="pre">CMakeLists.txt</span></code> file and configure it to use the new kit.</p></li>
-<li><p>Setup missing Cmake flags (c.f. :ref:’Cmake’)</p>
-<div class="admonition-todo admonition" id="id1">
-<p class="admonition-title">Todo</p>
-<p>The configuration is still “itchy”, as Qt creator changes the interface with every version</p>
-</div>
-</li>
-<li><p>Override the make command under <code class="docutils literal notranslate"><span class="pre">Project</span> <span class="pre">-></span> <span class="pre">Build</span> <span class="pre">-></span> <span class="pre">Build</span> <span class="pre">Steps</span></code> to <code class="docutils literal notranslate"><span class="pre">mingw32-make</span></code></p>
-<div class="figure align-center">
-<a class="reference internal image-reference" href="../../../_images/qtcreator_project_make.png"><img alt="../../../_images/qtcreator_project_make.png" src="../../../_images/qtcreator_project_make.png" style="width: 603.0px; height: 414.0px;" /></a>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Unfortunatly, there seems to be no way to enable <code class="docutils literal notranslate"><span class="pre">mingw32-make</span></code> on the kit level.</p>
-</div>
-</li>
-</ol>
-</div>
-</div>
-<div class="section" id="settings-linux">
-<h2>Settings (Linux)<a class="headerlink" href="#settings-linux" title="Permalink to this headline">¶</a></h2>
-<div class="section" id="setup-kit">
-<h3>Setup Kit<a class="headerlink" href="#setup-kit" title="Permalink to this headline">¶</a></h3>
-<p>Qt Creator should be able to come up with a suiteable kit for developing <strong>openPASS</strong> on its own.
-If not, check if all <a class="reference internal" href="../installation/20_prerequisites.html#prerequisites"><span class="std std-ref">Prerequisites</span></a> are met. Also, the steps above should be a good indicator, where to look for potential troubles.</p>
-</div>
-<div class="section" id="id2">
-<h3>Setup Project<a class="headerlink" href="#id2" title="Permalink to this headline">¶</a></h3>
-<ol class="arabic">
-<li><p>Load the project by opening a <code class="docutils literal notranslate"><span class="pre">CmakeLists.txt</span></code> file and configure it to use a proper kit.</p></li>
-<li><p>Setup missing Cmake flags (c.f. :ref:’Cmake’)</p>
-<div class="admonition-todo admonition" id="id3">
-<p class="admonition-title">Todo</p>
-<p>The configuration is still “itchy”, as Qt creator changes the interface with every version</p>
-</div>
-</li>
-</ol>
-</div>
-</div>
-<div class="section" id="alternative-method">
-<h2>Alternative Method<a class="headerlink" href="#alternative-method" title="Permalink to this headline">¶</a></h2>
-<div class="admonition-version-issues admonition">
-<p class="admonition-title">Version Issues</p>
-<p>Qt Creator is constantly improving the Cmake integration.
-Unfortunatly, some versions seem to be <strong>buggy</strong>.</p>
-<p>Tested Versions: 4.13.2 | 4.12.2</p>
-</div>
-<ol class="arabic">
-<li><p>Follow the install instructions to invoke cmake from within your own build directory.
-- Execute the step for <code class="docutils literal notranslate"><span class="pre">build-release</span></code>
-- Execute the step for <code class="docutils literal notranslate"><span class="pre">build-debug</span></code></p></li>
-<li><p>Open Qt Creator</p></li>
-<li><p>Open <code class="docutils literal notranslate"><span class="pre">CMakeLists.txt</span></code></p></li>
-<li><p>Qt Creator should find the configured build directories and create a temporary kit</p>
-<div class="figure align-center">
-<a class="reference internal image-reference" href="../../../_images/qtcreator_project_cmake.png"><img alt="../../../_images/qtcreator_project_cmake.png" src="../../../_images/qtcreator_project_cmake.png" style="width: 603.6px; height: 414.59999999999997px;" /></a>
-</div>
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-<a class="reference internal image-reference" href="../../../_images/qtcreator_project_loaded.png"><img alt="../../../_images/qtcreator_project_loaded.png" src="../../../_images/qtcreator_project_loaded.png" style="width: 603.6px; height: 414.59999999999997px;" /></a>
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-<h1>Quick Start<a class="headerlink" href="#quick-start" title="Permalink to this headline">¶</a></h1>
-<p>This section describes how compile and run <strong>openPASS</strong> as quickly as possible.</p>
-<ol class="arabic">
-<li><p>Install <a class="reference internal" href="20_prerequisites.html#prerequisites"><span class="std std-ref">Prerequisites</span></a></p>
-<p>For brevity, the following description assumes that prerequisites are located at within the repository at <code class="docutils literal notranslate"><span class="pre">deps/thirdParty</span></code>.</p>
-</li>
-<li><p>Get repository and submodules</p>
-<p>For brevity, the following description assumes that the checkout path is the default <code class="docutils literal notranslate"><span class="pre">simopenpass</span></code>.</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>git clone https://gitlab.eclipse.org/eclipse/simopenpass/simopenpass.git
-<span class="nb">cd</span> simopenpass
-</pre></div>
-</div>
-</li>
-<li><p>Prepare build</p>
-<p>Starting from <code class="docutils literal notranslate"><span class="pre">simopenpass</span></code></p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mkdir build
-<span class="nb">cd</span> build
-cmake -G <span class="s2">"MinGW Makefiles"</span><span class="se">\</span>
- -D <span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">"/mingw64/bin;\</span>
-<span class="s2"> ../deps/thirdParty/win64/FMILibrary;\</span>
-<span class="s2"> ../deps/thirdParty/win64/osi;"</span><span class="se">\</span>
- -D <span class="nv">CMAKE_INSTALL_PREFIX</span><span class="o">=</span>/C/OpenPASS/bin/core <span class="se">\</span>
- -D <span class="nv">CMAKE_BUILD_TYPE</span><span class="o">=</span>Release <span class="se">\</span>
- -D <span class="nv">CMAKE_WITH_DEBUG_POSTIX</span><span class="o">=</span>OFF <span class="se">\</span>
- -D <span class="nv">OPENPASS_ADJUST_OUTPUT</span><span class="o">=</span>OFF <span class="se">\</span>
- -D <span class="nv">USE_CCACHE</span><span class="o">=</span>ON <span class="se">\</span>
- -D <span class="nv">CMAKE_C_COMPILER</span><span class="o">=</span>gcc <span class="se">\</span>
- -D <span class="nv">CMAKE_CXX_COMPILER</span><span class="o">=</span>g++ <span class="se">\</span>
- ..
-</pre></div>
-</div>
-</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mkdir build
-<span class="nb">cd</span> build
-cmake -D <span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span>/opt/qt5.12.3/5.12.3/gcc_64<span class="se">\;\</span>
- ../deps/thirdParty/linux64/FMILibrary<span class="se">\;\</span>
- ../deps/thirdParty/linux64/boost<span class="se">\;\</span>
- ../deps/thirdParty/linux64/osi<span class="se">\;\</span>
- ../deps/thirdParty/linux64/protobuf<span class="se">\;\</span>
- ../deps/thirdParty/linux64/googletest <span class="se">\</span>
- -D <span class="nv">CMAKE_INSTALL_PREFIX</span><span class="o">=</span>/OpenPASS/bin/core <span class="se">\</span>
- -D <span class="nv">CMAKE_BUILD_TYPE</span><span class="o">=</span>Release <span class="se">\</span>
- -D <span class="nv">CMAKE_WITH_DEBUG_POSTIX</span><span class="o">=</span>OFF <span class="se">\</span>
- -D <span class="nv">OPENPASS_ADJUST_OUTPUT</span><span class="o">=</span>OFF <span class="se">\</span>
- -D <span class="nv">USE_CCACHE</span><span class="o">=</span>ON <span class="se">\</span>
- -D <span class="nv">CMAKE_C_COMPILER</span><span class="o">=</span>gcc-10 <span class="se">\</span>
- -D <span class="nv">CMAKE_CXX_COMPILER</span><span class="o">=</span>g++-10 <span class="se">\</span>
- ..
-</pre></div>
-</div>
-</div></div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Adjust paths and options based on your system and needs.</p>
-</div>
-</li>
-<li><p>Optional: Build and execute unit tests</p>
-<p>Starting from <code class="docutils literal notranslate"><span class="pre">simopenpass/build</span></code>:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>make <span class="nb">test</span> <span class="nv">ARGS</span><span class="o">=</span><span class="s2">"--output-on-failure -j3"</span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>ARGS is optional, but recommended.
-Adjust parallel build flag <code class="docutils literal notranslate"><span class="pre">-j3</span></code> based on your system.</p>
-</div>
-</li>
-<li><p>Build simulation core</p>
-<p>Starting from <code class="docutils literal notranslate"><span class="pre">simopenpass/build</span></code>:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>make -j3 install
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Again, adjust parallel build flag <code class="docutils literal notranslate"><span class="pre">-j3</span></code> based on your system.</p>
-</div>
-</li>
-<li><p>Fix installation (we’re working on that…)</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-1-1-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-1-1-0" name="1-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-1-1-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-1-1-1" name="1-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-1-1-0" class="sphinx-tabs-panel" id="panel-1-1-0" name="1-0" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cp /C/OpenPASS/bin/core/bin /C/OpenPASS/bin/core
-</pre></div>
-</div>
-</div><div aria-labelledby="tab-1-1-1" class="sphinx-tabs-panel" hidden="true" id="panel-1-1-1" name="1-1" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cp ./OpenPASS/bin/core/bin ./OpenPASS/bin/core
-</pre></div>
-</div>
-</div></div>
-</li>
-<li><p>Run simulation (example)</p>
-<p>Starting from <code class="docutils literal notranslate"><span class="pre">simopenpass/build</span></code> and using an example configuration:</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-2-2-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-2-2-0" name="2-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-2-2-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-2-2-1" name="2-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-2-2-0" class="sphinx-tabs-panel" id="panel-2-2-0" name="2-0" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./C/OpenPASS/bin/core/OpenPassSlave --config ../sim/contrib/examples/AEB
-</pre></div>
-</div>
-</div><div aria-labelledby="tab-2-2-1" class="sphinx-tabs-panel" hidden="true" id="panel-2-2-1" name="2-1" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./OpenPASS/bin/core/OpenPassSlave --config ../sim/contrib/examples/AEB
-</pre></div>
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- <div class="section" id="prerequisites">
-<span id="id1"></span><h1>Prerequisites<a class="headerlink" href="#prerequisites" title="Permalink to this headline">¶</a></h1>
-<p>This section gives detailed information about the prerequisite and tested version.
-In short:</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows (MSYS2)</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux (Debian Bullseye)</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pacman -S mingw-w64-x86_64-boost <span class="c1">#1.75.0-2</span>
-pacman -S mingw-w64-x86_64-ccache <span class="c1">#3.7.9-1</span>
-pacman -S mingw-w64-x86_64-cmake <span class="c1">#3.19.2-1</span>
-pacman -S mingw-w64-x86_64-doxygen <span class="c1">#1.8.20-1</span>
-pacman -S mingw-w64-x86_64-gcc <span class="c1">#10.2.0-6</span>
-pacman -S mingw-w64-x86_64-gdb <span class="c1">#10.1-2</span>
-pacman -S mingw-w64-x86_64-graphviz <span class="c1">#2.44.1-3</span>
-pacman -S mingw-w64-x86_64-gtest <span class="c1">#1.10.0-1</span>
-pacman -S mingw-w64-x86_64-make <span class="c1">#4.3-1</span>
-pacman -S mingw-w64-x86_64-protobuf <span class="c1">#3.12.4-1</span>
-pacman -S mingw-w64-x86_64-qt5 <span class="c1">#5.15.2-5</span>
-</pre></div>
-</div>
-<p>Details: <a class="reference internal" href="50_windows.html#building-under-windows"><span class="std std-ref">Building under Windows</span></a></p>
-</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>apt install ccache
-apt install cmake
-apt install doxygen
-apt install googletest
-apt install gcc
-apt install g++
-apt install graphviz
-apt install libprotobuf-dev
-apt install protobuf-compiler <span class="c1"># when building osi</span>
-apt install qt5-default
-</pre></div>
-</div>
-<p>Details: <a class="reference internal" href="60_linux.html#building-under-linux"><span class="std std-ref">Building under Linux</span></a></p>
-</div></div>
-<div class="section" id="gnu-compiler-collection-gcc">
-<h2>GNU Compiler Collection (gcc)<a class="headerlink" href="#gnu-compiler-collection-gcc" title="Permalink to this headline">¶</a></h2>
-<p><strong>Version (latest tested):</strong> 10.2.3</p>
-<p><strong>OpenPASS</strong> is developed on Linux and Windows (64-Bit) in <a class="reference external" href="https://isocpp.org/">C++17</a> using the GNU Compiler Collection (<a class="reference external" href="https://gcc.gnu.org/">gcc</a>).</p>
-<div class="admonition-useful-hints admonition">
-<p class="admonition-title">Useful hints</p>
-<ul>
-<li><div class="line-block">
-<div class="line"><strong>openPASS</strong> has been developed using gcc 7.x, 8.x, 9.x, and more recently gcc 10.x.</div>
-<div class="line">There are no known issues regarding the different versions.</div>
-</div>
-</li>
-<li><p>Since no compiler specific features are used, the source should also compile with <a class="reference external" href="https://clang.llvm.org/">clang</a>.</p></li>
-<li><p>Generally, there is support for <a class="reference external" href="https://docs.microsoft.com/en-us/cpp/build/reference/c-cpp-building-reference">MSVC</a> , but currently not actively maintained by the <strong>openPASS</strong> Working Group.</p></li>
-</ul>
-</div>
-</div>
-<div class="section" id="gnu-debugger-gdb">
-<h2>GNU Debugger (gdb)<a class="headerlink" href="#gnu-debugger-gdb" title="Permalink to this headline">¶</a></h2>
-<p><strong>Version (latest tested):</strong> 9.2</p>
-<p>Debugging tools for gcc: <a class="reference external" href="https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html">https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html</a></p>
-</div>
-<div class="section" id="cmake">
-<h2>CMake<a class="headerlink" href="#cmake" title="Permalink to this headline">¶</a></h2>
-<p><strong>Version (latest tested):</strong> 3.18.4</p>
-<p><strong>OpenPASS</strong> uses <a class="reference external" href="https://cmake.org/">CMake</a> for building and testing.
-For details on the provided options, see <a class="reference internal" href="40_cmake.html#cmake"><span class="std std-ref">Cmake Build Environment</span></a>.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The former support for <code class="docutils literal notranslate"><span class="pre">qmake</span></code> is expiring and not documented anymore.</p>
-</div>
-</div>
-<div class="section" id="ccache">
-<span id="prerequisites-ccache"></span><h2>Ccache<a class="headerlink" href="#ccache" title="Permalink to this headline">¶</a></h2>
-<p><strong>Version (latest tested):</strong> 3.7.11</p>
-<p><strong>OpenPASS</strong> supports the compiler cache <a class="reference external" href="https://ccache.dev/">Ccache</a> for faster recompilation.
-Use only, if you need to recompile regularly.</p>
-<div class="admonition-useful-hints admonition">
-<p class="admonition-title">Useful hints</p>
-<ul class="simple">
-<li><p>The first compilation is definilty slower (e.g. by 30%), as the cache needs to be built.</p></li>
-<li><p>If used regularily, increasing the cache size is recommended, e.g.: <code class="docutils literal notranslate"><span class="pre">ccache</span> <span class="pre">-M</span> <span class="pre">20G</span></code></p></li>
-</ul>
-</div>
-</div>
-<div class="section" id="doxygen">
-<h2>Doxygen<a class="headerlink" href="#doxygen" title="Permalink to this headline">¶</a></h2>
-<p><strong>Version (latest tested):</strong> 1.8.20</p>
-<p>Documentation is created using <a class="reference external" href="https://www.doxygen.nl/index.html">Doxygen</a>.</p>
-<div class="admonition-useful-hints admonition">
-<p class="admonition-title">Useful hints</p>
-<ul class="simple">
-<li><p>Doxygen introduced support for Markdown with 1.8, which is still in use.
-Don’t use older versions.</p></li>
-</ul>
-</div>
-</div>
-<div class="section" id="qt-framework">
-<h2>Qt Framework<a class="headerlink" href="#qt-framework" title="Permalink to this headline">¶</a></h2>
-<p><strong>Version (officially supported):</strong> 5.12.3</p>
-<p><strong>OpenPASS</strong> uses some features from the <a class="reference external" href="https://www.qt.io/">Qt</a> framework.
-While the GUI of <strong>openPASS</strong> (Open Source) heavily relies on it, the simulation core tries to stick to the C++ standard framework as far as possible.</p>
-<div class="admonition-note-on-versions admonition">
-<p class="admonition-title">Note on Versions</p>
-<div class="line-block">
-<div class="line">Versions starting from 5.4 should generally work, but are not officially supported anymore/yet.</div>
-<div class="line">Version 5.15.1 has been reported to work well.</div>
-</div>
-</div>
-</div>
-<div class="section" id="boost-c-libraries">
-<h2>Boost C++ Libraries<a class="headerlink" href="#boost-c-libraries" title="Permalink to this headline">¶</a></h2>
-<p><strong>Version (officially supported):</strong> 1.72.0</p>
-<p>Especially for geometrical calculations, <strong>openPASS</strong> uses parts of the <a class="reference external" href="https://www.boost.org/">Boost C++ Libraries</a>.</p>
-<div class="admonition-note-on-versions admonition">
-<p class="admonition-title">Note on Versions</p>
-<p>More recent versions should integrate without issues, but 1.74.0 already raise warnings for some deprecated headers.</p>
-</div>
-</div>
-<div class="section" id="googletest">
-<h2>googletest<a class="headerlink" href="#googletest" title="Permalink to this headline">¶</a></h2>
-<p><strong>Version (officially supported)</strong> 1.10.0</p>
-<p>Tests are written in <a class="reference external" href="https://github.com/google/googletest">googletest</a> and <strong>OpenPASS</strong> makes use of the included <em>googletest</em> (gtest) C++ testing framework, as well as the included mocking framework <em>googlemock</em> (gmock).</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The lastest major release brought several API changes, which made some code fixes necessary.
-Use newer versions with precaution.</p>
-</div>
-</div>
-<div class="section" id="open-simulation-interface-osi">
-<span id="prerequisites-osi"></span><h2>Open Simulation Interface (OSI)<a class="headerlink" href="#open-simulation-interface-osi" title="Permalink to this headline">¶</a></h2>
-<p><strong>Version (officially supported):</strong> 3.2.0</p>
-<p>The internal world representation uses the <a class="reference external" href="https://github.com/OpenSimulationInterface">Open Simulation Interface</a> (<a class="reference internal" href="../../../glossary.html#term-OSI"><span class="xref std std-term">OSI</span></a>) as part of its ground truth (backend storage) and exchange format.</p>
-<div class="figure align-center" id="id7">
-<a class="reference internal image-reference" href="../../../_images/osi_in_openpass.png"><img alt="OSI in |op|" src="../../../_images/osi_in_openpass.png" style="width: 514.1999999999999px; height: 131.4px;" /></a>
-<p class="caption"><span class="caption-text">Interaction between World and consumers of OSI messages.</span><a class="headerlink" href="#id7" title="Permalink to this image">¶</a></p>
-</div>
-<p>Thereby, OSI provides data structures for representation of various objects in traffic simulation environments.
-Note that OSI is primarily developed in a sensor centric view, such as lane markings and object boundaries.
-Beyond that, <strong>openPASS</strong> holds data for non-sensor centric data, such as metainfo on lanes and roads.</p>
-<p>As shown, OSI itself depends on <a class="reference internal" href="#prerequisites-protobuf"><span class="std std-ref">Protocol Buffers (protobuf)</span></a>.
-If not already installed, the library and headers have to be built prior to OSI.</p>
-<div class="admonition-note-on-versions admonition">
-<p class="admonition-title">Note on Versions</p>
-<p><strong>OpenPASS</strong> supports <strong>integration of custom made or experimental versions</strong> of OSI (see <a class="reference internal" href="30_build_prerequisites.html#building-osi"><span class="std std-ref">Building OSI</span></a>).
-For example, <cite>Algorithm_FmuWrapper</cite> and the wrapped <cite>OSMP</cite> FMUs use the proposed OSI messages <cite>TrafficUpdate</cite> and <cite>TrafficCommand</cite>, not yet defined in OSI 3.2.0.</p>
-</div>
-</div>
-<div class="section" id="protocol-buffers-protobuf">
-<span id="prerequisites-protobuf"></span><h2>Protocol Buffers (protobuf)<a class="headerlink" href="#protocol-buffers-protobuf" title="Permalink to this headline">¶</a></h2>
-<p><strong>Supported Version (officially supported):</strong> 3.12.2</p>
-<p><a class="reference internal" href="#prerequisites-osi"><span class="std std-ref">Open Simulation Interface (OSI)</span></a> uses <a class="reference external" href="https://developers.google.com/protocol-buffers">Protocol Buffers</a> for describing and serialization of its datastructures.</p>
-<div class="admonition-note-on-versions admonition">
-<p class="admonition-title">Note on Versions</p>
-<ul class="simple">
-<li><p>So far, no version limitations known (including 2.x).</p></li>
-<li><p><strong>OpenPASS</strong> lets you integrate your own protobuf libraries if necessary (see <a class="reference internal" href="30_build_prerequisites.html#building-protobuf"><span class="std std-ref">Building Protobuf</span></a>).</p></li>
-</ul>
-</div>
-</div>
-<div class="section" id="modelon-fmi-library-fmil">
-<h2>Modelon FMI Library (FMIL)<a class="headerlink" href="#modelon-fmi-library-fmil" title="Permalink to this headline">¶</a></h2>
-<p><strong>Supported Version:</strong> 2.0.3</p>
-<p>For integration of Functional Mock-up Units (FMUs) the <cite>Algorithm_FmuWrapper</cite> uses the <a class="reference external" href="https://github.com/modelon-community/fmi-library">Modelon FMI Library</a>.
-As there is no binary available, FMIL needs to be build from scratch before <strong>openPASS</strong> can be compiled (see <a class="reference internal" href="30_build_prerequisites.html#building-fmil"><span class="std std-ref">Building FMIL</span></a>).</p>
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-<li class="toctree-l3"><a class="reference internal" href="#building-osi">Building OSI</a></li>
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- <div class="section" id="building-prerequisites">
-<h1>Building Prerequisites<a class="headerlink" href="#building-prerequisites" title="Permalink to this headline">¶</a></h1>
-<p>This section describes custom building of prerequisites of <strong>openPASS</strong>.</p>
-<p>To keep this guide as slim as possible, it only describes the <strong>Windows perspective</strong>.
-In general, this should work for Linux as well by adjusting paths and the <code class="docutils literal notranslate"><span class="pre">make</span></code> command accordingly.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If you are unfamiliar to <code class="docutils literal notranslate"><span class="pre">Cmake</span></code> or working within a <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell, Section <a class="reference internal" href="40_cmake.html#cmake"><span class="std std-ref">Cmake Build Environment</span></a> and <a class="reference internal" href="50_windows.html#msys2"><span class="std std-ref">MSYS2</span></a> might give you a short introduction on these topics in the scope of Building OpenPASS itself.</p>
-</div>
-<div class="section" id="referencing-prerequisites">
-<span id="ref-prerequisites"></span><h2>Referencing Prerequisites<a class="headerlink" href="#referencing-prerequisites" title="Permalink to this headline">¶</a></h2>
-<p>With the migration from qmake to cmake, all prerequisite are independent of each other and simply can be refereced by using the right <a class="reference internal" href="40_cmake.html#cmake-prefix-path"><span class="std std-ref">CMAKE_PREFIX_PATH</span></a>.</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>The following information is <strong>DEPRECATED</strong> and only needed if a <code class="docutils literal notranslate"><span class="pre">qmake</span></code> build shall be invoked.</p>
-</div>
-<p>Historically, <strong>openPASS</strong> (Open Source) uses a <strong>single entry-point</strong> for libraries and headers, so all prerequisites must to be located within a common folder structure.
-If <code class="docutils literal notranslate"><span class="pre">qmake</span></code> needs to be invoked, and more than one prerequisite is customized, <strong>a manual step</strong> is necessary to establish this structure.</p>
-<p>Example:</p>
-<ol class="arabic">
-<li><p>Build prerequisite_1</p></li>
-<li><p>Build prerequisite_2</p></li>
-<li><p>Copy libraries of both prerequisites into e.g. <code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\thirdParty\lib</span></code></p></li>
-<li><p>Copy common headers into e.g. <code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\thirdParty\include</span></code></p></li>
-<li><p>Reference the entry points by adding the following arguments to the qmake command</p>
-<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>EXTRA_INCLUDE_PATH=c:\OpenPASS\thirdParty\include
-EXTRA_LIB_PATH=c:\OpenPASS\thirdParty\lib
-</pre></div>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Make sure that there is no linebreak between the two arguments.
-Qmake cannot handle this, but does not complain.</p>
-</div>
-</li>
-</ol>
-</div>
-<div class="section" id="building-osi">
-<span id="id1"></span><h2>Building OSI<a class="headerlink" href="#building-osi" title="Permalink to this headline">¶</a></h2>
-<p>As teased in <a class="reference internal" href="20_prerequisites.html#prerequisites"><span class="std std-ref">Prerequisites</span></a>, the core component <code class="docutils literal notranslate"><span class="pre">World_OSI</span></code> uses <a class="reference internal" href="../../../glossary.html#term-OSI"><span class="xref std std-term">OSI</span></a> as backend storage.
-OSI itself uses <code class="docutils literal notranslate"><span class="pre">protobuf</span></code> to describe data structures in a platform independent way by means of <cite>*.proto</cite> files.
-When building OSI, these files are converted into C++ headers and sources, using the protobuf compiler <code class="docutils literal notranslate"><span class="pre">protoc</span></code>.
-Finally, the sources are then compiled into a library.
-<strong>OpenPASS</strong> finally uses the library and the generated headers to interface the library.</p>
-<ol class="arabic">
-<li><p>Download release 3.2.0 from <a class="reference external" href="https://github.com/OpenSimulationInterface/open-simulation-interface">https://github.com/OpenSimulationInterface/open-simulation-interface</a></p></li>
-<li><p>Extract to e.g. <code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\thirdParty\sources\open-simulationinterface</span></code></p></li>
-<li><p>Optional: Enable Arenas</p>
-<p>For better performance, <strong>openPASS</strong> supports protobuf Arenas allocation (<a class="reference external" href="https://developers.google.com/protocol-buffers/docs/reference/arenas">https://developers.google.com/protocol-buffers/docs/reference/arenas</a>).
-To use this feature, OSI and <strong>openPASS</strong> needs to be compiled with Arenas support.
-See <a class="reference internal" href="40_cmake.html#cmake-protobuf-arenas"><span class="std std-ref">WITH_EXTENDED_OSI</span></a> how this feature is enabled in <strong>openPASS</strong>.</p>
-<p>For OSI, <code class="docutils literal notranslate"><span class="pre">option</span> <span class="pre">cc_enable_arenas</span> <span class="pre">=</span> <span class="pre">true;</span></code> needs to be added <strong>manually</strong> to all OSI proto files before compilation.
-If everything goes well, <code class="docutils literal notranslate"><span class="pre">protoc</span></code> will generate all the magic necessary, otherwise issue an error during compilation.</p>
-</li>
-<li><p>Open <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell and navigate to extracted folder</p></li>
-<li><p>Create build directory</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mkdir build
-<span class="nb">cd</span> build
-</pre></div>
-</div>
-</li>
-<li><p>Run Cmake</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake -G “MinGW Makefiles” <span class="se">\</span>
- -DCMAKE_BUILD_TYPE<span class="o">=</span>Release <span class="se">\</span>
- -DCMAKE_INSTALL_PREFIX<span class="o">=</span>C:/OpenPASS/thirdParty <span class="se">\</span>
- -DProtobuf_INCLUDE_DIR<span class="o">=</span>C:/OpenPASS/thirdParty/include <span class="se">\</span>
- -DProtobuf_PROTOC_EXECUTABLE<span class="o">=</span>C:/OpenPASS/thirdParty/bin/protoc.exe <span class="se">\</span>
- -DProtobuf_LIBRARIES<span class="o">=</span>C:/OpenPASS/thirdParty/lib <span class="se">\</span>
- ..
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Here protobuf is used in as customized prerequisite (see <a class="reference internal" href="#building-protobuf"><span class="std std-ref">Building Protobuf</span></a>).
-Adjust paths as needed, if already installed as system package.</p>
-</div>
-</li>
-<li><p>Add linker flags for protobuf</p>
-<p>Unfortunantly OSI does not allow for to hook in a custom protobuf library.
-To force compilation against a custom library, edit <code class="docutils literal notranslate"><span class="pre">CMakeFiles\open_simulation_interface.dir\linklibs.rsp</span></code>
-and add <code class="docutils literal notranslate"><span class="pre">-LC:/OpenPASS/thirdParty/lib</span> <span class="pre">-lprotobuf</span></code> to the end of the line.</p>
-<div class="admonition-a-little-bit-hacky admonition">
-<p class="admonition-title">A little bit hacky…</p>
-<p>If anybody knows how to avoid this step, please let us know.</p>
-</div>
-</li>
-<li><p>Compile</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mingw32-make -j3
-</pre></div>
-</div>
-</li>
-<li><p>Install</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mingw32-make install
-</pre></div>
-</div>
-</li>
-<li><p>Deprecated: Establish unified layout for prerequisites (c.f. <a class="reference internal" href="#ref-prerequisites"><span class="std std-ref">Referencing Prerequisites</span></a>)</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> /C/OpenPASS/thirdParty
-cp lib/osi3/libopen_simulation_interface.dll lib
-</pre></div>
-</div>
-</li>
-</ol>
-<div class="admonition-documentation admonition">
-<p class="admonition-title">Documentation</p>
-<p>The OSI class documentation is part of the source code and can be compiled using Doxygen.
-Instructions are located in the OSI <code class="docutils literal notranslate"><span class="pre">Readme.md</span></code>. A pre-compiled version is located <a class="reference external" href="https://opensimulationinterface.github.io/open-simulation-interface/index.html">here</a>.</p>
-<p>So far, the documentation does not include the extensions from the openpass-trafficAgents branch.</p>
-</div>
-</div>
-<div class="section" id="building-protobuf">
-<span id="id2"></span><h2>Building Protobuf<a class="headerlink" href="#building-protobuf" title="Permalink to this headline">¶</a></h2>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Protobuf is already available as package for MSYS2 in different versions (see <a class="reference internal" href="50_windows.html#msys2-packages"><span class="std std-ref">Packages</span></a>).</p>
-</div>
-<p>If a custom build is necessary, adjust this guide to your needs.
-Exemplarily, it gives instructions, how to compile version 3.11.4. and hook it into the <strong>openPASS</strong> build.</p>
-<ol class="arabic">
-<li><p>Download release 3.11.4 from <a class="reference external" href="https://github.com/protocolbuffers/protobuf/releases">https://github.com/protocolbuffers/protobuf/releases</a></p></li>
-<li><p>Extract to e.g. <code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\thirdParty\sources\protobuf-cpp-3.11.4</span></code></p></li>
-<li><p>Open <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell and navigate to extracted folder</p></li>
-<li><p>Create build directory</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> cmake
-mkdir build
-<span class="nb">cd</span> build
-</pre></div>
-</div>
-</li>
-<li><p>Run Cmake</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span> cmake -G <span class="s2">"MinGW Makefiles"</span> <span class="se">\</span>
- -DCMAKE_BUILD_TYPE<span class="o">=</span>Release <span class="se">\</span>
- -DCMAKE_INSTALL_PREFIX<span class="o">=</span>C:/OpenPASS/thirdParty <span class="se">\</span>
- -Dprotobuf_BUILD_SHARED_LIBS<span class="o">=</span>ON <span class="se">\</span>
-<span class="hll"> -Dprotobuf_BUILD_TESTS<span class="o">=</span>OFF <span class="se">\</span>
-</span> ..
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Tests are disabled due to compiler warnings treated as errors (may vary with compiler version).</p>
-</div>
-</li>
-<li><p>Compile</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mingw32-make -j3
-</pre></div>
-</div>
-</li>
-<li><p>Install</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mingw32-make install
-</pre></div>
-</div>
-</li>
-<li><p>Deprecated: Establish unified layout for prerequisites (c.f. <a class="reference internal" href="#ref-prerequisites"><span class="std std-ref">Referencing Prerequisites</span></a>)</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> /C/OpenPASS/thirdParty
-cp bin/libprotobuf.dll lib
-</pre></div>
-</div>
-</li>
-</ol>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Please refer to <a class="reference internal" href="50_windows.html#runmingwexe"><span class="std std-ref">Execution</span></a> to see how to run the protobuf compiler <code class="docutils literal notranslate"><span class="pre">protoc.exe</span></code> outside of the <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell.</p>
-</div>
-</div>
-<div class="section" id="building-fmil">
-<span id="id3"></span><h2>Building FMIL<a class="headerlink" href="#building-fmil" title="Permalink to this headline">¶</a></h2>
-<ol class="arabic">
-<li><p>Download release 2.0.3 from <a class="reference external" href="https://github.com/modelon-community/fmi-library">https://github.com/modelon-community/fmi-library</a></p></li>
-<li><p>Extract to e.g. <code class="docutils literal notranslate"><span class="pre">C:\OpenPASS\thirdParty\sources\fmi-library</span></code></p></li>
-<li><p>Open <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell and navigate to extracted folder</p></li>
-<li><p>Create build directory</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mkdir build
-<span class="nb">cd</span> build
-</pre></div>
-</div>
-</li>
-<li><p>Run Cmake</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake -G <span class="s2">"MinGW Makefiles"</span> <span class="se">\</span>
- -DFMILIB_INSTALL_PREFIX<span class="o">=</span>C:/OpenPASS/thirdParty <span class="se">\</span>
- -DCMAKE_BUILD_TYPE<span class="o">=</span>Release <span class="se">\</span>
- -DFMILIB_BUILD_STATIC_LIB<span class="o">=</span>OFF <span class="se">\</span>
- -DFMILIB_BUILD_SHARED_LIB<span class="o">=</span>ON <span class="se">\</span>
- ..
-</pre></div>
-</div>
-</li>
-<li><p>Apply Patch (Linux only)</p>
-<p>As FMIL and the internally used <a class="reference external" href="https://github.com/modelica-tools/FMUComplianceChecker">FMU Compliance Checker</a> has issues with loading and private entry points under Linux, the following patch needs to be applied: <a class="reference download internal" download="" href="../../../_downloads/13c83f8af22f3a982e274246191a6807/fmil203.patch"><code class="xref download docutils literal notranslate"><span class="pre">Linux</span> <span class="pre">Patch</span></code></a></p>
-</li>
-<li><p>Compile</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mingw32-make -j3
-</pre></div>
-</div>
-</li>
-<li><p>Install</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mingw32-make install
-</pre></div>
-</div>
-</li>
-<li><p>Deprecated: Establish unified layout for prerequisites (c.f. <a class="reference internal" href="#ref-prerequisites"><span class="std std-ref">Referencing Prerequisites</span></a>)</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span> /C/OpenPASS/thirdParty/include
-mkdir FMILibrary
-mv -r FMI FMILibrary
-mv -r FMI2 FMILibrary
-mv -r JM FMILibrary
-mv fmilib.h FMILibrary
-mv fmilib_config.h FMILibrary
-</pre></div>
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- <div class="section" id="cmake-build-environment">
-<span id="cmake"></span><h1>Cmake Build Environment<a class="headerlink" href="#cmake-build-environment" title="Permalink to this headline">¶</a></h1>
-<p><strong>OpenPASS</strong> uses Cmake as default cross-platform build environment.
-This section describes the available variables and options.
-If available, recommended options are shown in bold.</p>
-<p>The first part of this section approaches Cmake from the <em>command line perspective</em>.
-Adjustments for the corresponding IDEs will follow shortly.</p>
-<p>The result of a proper Cmake call is a Makefile, which acts as base for the actual build using <code class="docutils literal notranslate"><span class="pre">make</span></code> or, under Windows, <code class="docutils literal notranslate"><span class="pre">mingw32-make</span></code> (c.f. <a class="reference internal" href="50_windows.html#msys2"><span class="std std-ref">MSYS2</span></a>).
-Hence, the second part of this section describes best practices around the make commands.</p>
-<div class="admonition-see-also admonition">
-<p class="admonition-title">See also</p>
-<p>Cmake Documentation: <a class="reference external" href="https://cmake.org/cmake/help/latest/index.html">https://cmake.org/cmake/help/latest/index.html</a></p>
-</div>
-<div class="section" id="generator-windows-only">
-<h2>Generator (Windows only)<a class="headerlink" href="#generator-windows-only" title="Permalink to this headline">¶</a></h2>
-<p>To generate MinGW compatible makefiles use <code class="docutils literal notranslate"><span class="pre">-G</span> <span class="pre">"MinGW</span> <span class="pre">Makefiles"</span></code> (c.f. <a class="reference internal" href="50_windows.html#msys2"><span class="std std-ref">MSYS2</span></a>).</p>
-</div>
-<div class="section" id="cmake-variables">
-<h2>Cmake Variables<a class="headerlink" href="#cmake-variables" title="Permalink to this headline">¶</a></h2>
-<div class="section" id="cmake-prefix-path">
-<span id="id1"></span><h3>CMAKE_PREFIX_PATH<a class="headerlink" href="#cmake-prefix-path" title="Permalink to this headline">¶</a></h3>
-<p>This command makes the prerequisite available to <strong>openPASS</strong> as semicolon-separated list of directories, specifying installation prefixes to be searched by cmake.
-Please refer to <a class="reference internal" href="20_prerequisites.html#prerequisites"><span class="std std-ref">Prerequisites</span></a> for the list of mandatory packages and libraries.
-Cmake will issue an error, if one prerequisite is missing.</p>
-<p>Generally, cmake recognizes installed libraries (e.g. googletest) on its own.
-By setting an explicit <code class="docutils literal notranslate"><span class="pre">CMAKE_PREFIX_PATH</span></code> for a library, it is possible to override the system libraries.
-Use this, when an exact library version, or a customized library shall be used instead.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>In the following example, non-standard libraries are assumed to be in the folder <code class="docutils literal notranslate"><span class="pre">deps/thirdParty</span></code>.</p>
-</div>
-<p><strong>Example</strong> (system libraries <strong>not</strong> set):</p>
-<div class="sphinx-tabs docutils container">
-<div aria-label="Tabbed content" class="closeable" role="tablist"><button aria-controls="panel-0-0-0" aria-selected="true" class="sphinx-tabs-tab" id="tab-0-0-0" name="0-0" role="tab" tabindex="0">Windows</button><button aria-controls="panel-0-0-1" aria-selected="false" class="sphinx-tabs-tab" id="tab-0-0-1" name="0-1" role="tab" tabindex="-1">Linux</button></div><div aria-labelledby="tab-0-0-0" class="sphinx-tabs-panel" id="panel-0-0-0" name="0-0" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake -G <span class="s2">"MinGW Makefiles"</span>
- -D <span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">"\</span>
-<span class="s2"> /mingw64/bin;\</span>
-<span class="s2"> </span><span class="nv">$PWD</span><span class="s2">/../deps/thirdParty/win64/FMILibrary;\</span>
-<span class="s2"> </span><span class="nv">$PWD</span><span class="s2">/../deps/thirdParty/win64/osi;\</span>
-<span class="s2"> -D <other variables>\</span>
-<span class="s2"> ..</span>
-</pre></div>
-</div>
-</div><div aria-labelledby="tab-0-0-1" class="sphinx-tabs-panel" hidden="true" id="panel-0-0-1" name="0-1" role="tabpanel" tabindex="0"><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake -D <span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="se">\</span>
- <span class="nv">$PWD</span>/../deps/thirdParty/linux64/FMILibrary<span class="se">\;\</span>
- <span class="nv">$PWD</span>/../deps/thirdParty/linux64/osi<span class="se">\;\</span>
- -D <other variables> <span class="se">\</span>
- ..
-</pre></div>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>The semicolon <code class="docutils literal notranslate"><span class="pre">;</span></code> needs to be escaped (<code class="docutils literal notranslate"><span class="pre">\;</span></code>) unless the string is quoted.</p>
-</div>
-</div></div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Please also read through ref:<cite>openpass_variables</cite> for further useful hints, e.g. why explicitly setting the MinGW path might be a necessary in some situations.</p>
-</div>
-</div>
-<div class="section" id="cmake-install-prefix">
-<h3>CMAKE_INSTALL_PREFIX<a class="headerlink" href="#cmake-install-prefix" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Install directory used by install, when invoking <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code></p></li>
-<li><p>Recommendation: <code class="docutils literal notranslate"><span class="pre">/OpenPASS/bin/core</span></code> (Linux) | <code class="docutils literal notranslate"><span class="pre">C:/OpenPASS/bin/core</span></code> (Windows)</p></li>
-</ul>
-</div>
-<div class="section" id="cmake-with-debug-postix">
-<h3>CMAKE_WITH_DEBUG_POSTIX<a class="headerlink" href="#cmake-with-debug-postix" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Used only in conjunction with <em>Visual Studio Debug Builds</em> (MSVC), as it distinguishes release/debug DLLs by a postfix <code class="docutils literal notranslate"><span class="pre">d</span></code>.</p></li>
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-</ul>
-</div>
-<div class="section" id="cmake-build-type">
-<h3>CMAKE_BUILD_TYPE<a class="headerlink" href="#cmake-build-type" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Specifies the build type on single-configuration generators.</p></li>
-<li><p>Typical: Release | Debug</p></li>
-<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html">https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html</a></p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>IDEs, as Qt Creator, might set this variable base on the current build type on their own.</p>
-</div>
-</div>
-<div class="section" id="cmake-c-compiler">
-<h3>CMAKE_C_COMPILER<a class="headerlink" href="#cmake-c-compiler" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Options: <strong>gcc-10</strong> | gcc-9 | gcc-8</p></li>
-<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html">https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html</a></p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>IDEs, as Qt Creator, might set this variable via <em>kit</em> settings.</p>
-</div>
-</div>
-<div class="section" id="cmake-cxx-compiler">
-<h3>CMAKE_CXX_COMPILER<a class="headerlink" href="#cmake-cxx-compiler" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Options: <strong>g++-10</strong> | g++-9 | g++-8</p></li>
-<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html">https://cmake.org/cmake/help/latest/variable/CMAKE_LANG_COMPILER.html</a></p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>IDEs, as Qt Creator, might set this variable via <em>kit</em> settings.</p>
-</div>
-</div>
-<div class="section" id="cmake-object-path-max">
-<h3>CMAKE_OBJECT_PATH_MAX<a class="headerlink" href="#cmake-object-path-max" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Under windows, errors from too long paths could be prevented by setting this value to 255 (maximum).</p></li>
-<li><p>See: <a class="reference external" href="https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html">https://cmake.org/cmake/help/latest/variable/CMAKE_OBJECT_PATH_MAX.html</a></p></li>
-</ul>
-</div>
-</div>
-<div class="section" id="openpass-variables">
-<span id="cmake-openpass-variables"></span><h2>OpenPASS Variables<a class="headerlink" href="#openpass-variables" title="Permalink to this headline">¶</a></h2>
-<div class="section" id="use-ccache">
-<h3>USE_CCACHE<a class="headerlink" href="#use-ccache" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Activates ccache (see <a class="reference internal" href="20_prerequisites.html#prerequisites-ccache"><span class="std std-ref">Ccache</span></a>)</p></li>
-<li><p>Options: <strong>ON</strong> | OFF</p></li>
-</ul>
-</div>
-<div class="section" id="with-simcore">
-<h3>WITH_SIMCORE<a class="headerlink" href="#with-simcore" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Build OSI based scenario simulation, also know as openPASS core (slave).</p></li>
-<li><p>Options: OFF | <strong>ON</strong></p></li>
-</ul>
-</div>
-<div class="section" id="with-doc">
-<h3>WITH_DOC<a class="headerlink" href="#with-doc" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Build sphinx based documentation</p></li>
-<li><p>Options: OFF | <strong>ON</strong></p></li>
-</ul>
-</div>
-<div class="section" id="with-api-doc">
-<h3>WITH_API_DOC<a class="headerlink" href="#with-api-doc" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Build sphinx based developer documentation</p></li>
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Automatically activates <code class="docutils literal notranslate"><span class="pre">WITH_DOC</span></code> if ON</p>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Building the API doc takes pretty long.</p>
-</div>
-</div>
-<div class="section" id="with-coverage">
-<h3>WITH_COVERAGE<a class="headerlink" href="#with-coverage" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Add test targets for code coverage analysis (lcov) and HTML report generation (genhtml)</p></li>
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-<li><p>Use <code class="docutils literal notranslate"><span class="pre">COVERAGE_EXCLUDE</span></code> to remove folders from the analysis</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The generated files are placed next to the test executable.
-Each test will be built without optimization, which will increase the testing run-time.</p>
-</div>
-</div>
-<div class="section" id="with-gui">
-<h3>WITH_GUI<a class="headerlink" href="#with-gui" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Activates the additional build of the GUI provided with <strong>OpenPASS</strong> (open source).</p></li>
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Please refer to <a class="reference internal" href="../../../user_guide/10_gui_user_guide.html#gui-user-guide"><span class="std std-ref">GUI User Guide</span></a> for information on the GUI.</p>
-</div>
-</div>
-<div class="section" id="with-tests">
-<h3>WITH_TESTS<a class="headerlink" href="#with-tests" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Build unit tests</p></li>
-<li><p>Options: OFF | <strong>ON</strong></p></li>
-</ul>
-</div>
-<div class="section" id="with-mingw-boost-1-72-fix">
-<h3>WITH_MINGW_BOOST_1_72_FIX<a class="headerlink" href="#with-mingw-boost-1-72-fix" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-<li><p>This enables a fix for detection within the MinGW environment, necessary when using the (for compatibility reasons supported) boost version 1.72.</p></li>
-<li><p>See: <a class="reference external" href="https://github.com/boostorg/boost_install/issues/33">https://github.com/boostorg/boost_install/issues/33</a>.</p></li>
-</ul>
-</div>
-<div class="section" id="openpass-adjust-output">
-<h3>OPENPASS_ADJUST_OUTPUT<a class="headerlink" href="#openpass-adjust-output" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Adjusts if builds are executed in the (Cmake default) folder <code class="docutils literal notranslate"><span class="pre">build</span></code> or directly in the specified install directory.
-Latter mimics the former qmake behavior let you skip the call <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>.</p></li>
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-</ul>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>When skipping <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code>, dependencies are not copied into the output folder, which could cause crashes due to missing or outdated libraries.</p>
-</div>
-</div>
-<div class="section" id="with-extended-osi">
-<span id="cmake-protobuf-arenas"></span><h3>WITH_EXTENDED_OSI<a class="headerlink" href="#with-extended-osi" title="Permalink to this headline">¶</a></h3>
-<ul>
-<li><p>When set, assumes that extended version of OSI is available, by enabling the <code class="docutils literal notranslate"><span class="pre">USE_EXTENDED_OSI</span></code> preprocessor variable.</p></li>
-<li><p>This variable can be used to enable e.g. customized OSI features:</p>
-<blockquote>
-<div><div class="highlight-c++ notranslate"><div class="highlight"><pre><span></span><span class="cp">#ifdef USE_EXTENDED OSI</span>
-<span class="cp">#include</span> <span class="cpf">"osi3/osi_<custom_message>.pb.h"</span><span class="cp"></span>
-<span class="cp">#endif</span>
-</pre></div>
-</div>
-</div></blockquote>
-</li>
-<li><p>Options: <strong>OFF</strong> | ON</p></li>
-</ul>
-</div>
-<div class="section" id="with-protobuf-arena">
-<h3>WITH_PROTOBUF_ARENA<a class="headerlink" href="#with-protobuf-arena" title="Permalink to this headline">¶</a></h3>
-<ul>
-<li><div class="line-block">
-<div class="line"><em>Arena allocation is a C++-only feature that helps you optimize your memory usage and improve performance when working with protocol buffers.</em></div>
-<div class="line">(from <a class="reference external" href="https://developers.google.com/protocol-buffers/docs/reference/arenas">https://developers.google.com/protocol-buffers/docs/reference/arenas</a>)</div>
-</div>
-</li>
-<li><p>Options: <strong>ON</strong> | OFF</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>This feature is only available, if protobuf related libraries are also compiled with arenas (see <a class="reference internal" href="30_build_prerequisites.html#building-osi"><span class="std std-ref">Building OSI</span></a>).
-Fortunately, the implementation falls back to regular allocation if not, which simply results in less performance.</p>
-</div>
-</div>
-<div class="section" id="install-system-runtime-deps">
-<h3>INSTALL_SYSTEM_RUNTIME_DEPS<a class="headerlink" href="#install-system-runtime-deps" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Copy detected system runtime dependencies to install directory (i.e. MinGW system libraries)</p></li>
-<li><p>Options: ON | <strong>OFF</strong></p></li>
-</ul>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Under windows, automatic resolution might fail if other MinGW instances are installed.
-As several programs use MinGW under the hood, it is recommended to set the used MinGW path in the CMAKE_PREFIX_PATH explicitly:</p>
-<blockquote>
-<div><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nv">CMAKE_PREFIX_PATH</span> <span class="o">=</span> mingw64/bin<span class="p">;</span><span class="se">\.</span>..
-</pre></div>
-</div>
-</div></blockquote>
-</div>
-</div>
-<div class="section" id="install-extra-runtime-deps">
-<h3>INSTALL_EXTRA_RUNTIME_DEPS<a class="headerlink" href="#install-extra-runtime-deps" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Copy detected third party runtime dependencies to install directory (i.e. required shared libraries found in specified CMAKE_PREFIX_PATH)</p></li>
-<li><p>Options: ON | <strong>OFF</strong></p></li>
-</ul>
-</div>
-</div>
-<div class="section" id="make-targets-commands">
-<h2>Make Targets/Commands<a class="headerlink" href="#make-targets-commands" title="Permalink to this headline">¶</a></h2>
-<p><strong>OpenPASS</strong> defines build targets by major modules or components, such as <code class="docutils literal notranslate"><span class="pre">OpenPassSlave</span></code> or <code class="docutils literal notranslate"><span class="pre">Algorithm_FmuWrapper</span></code>.
-After calling Cmake, simply build <strong>openPASS</strong> by calling <code class="docutils literal notranslate"><span class="pre">make</span></code>.</p>
-<div class="admonition-see-also admonition">
-<p class="admonition-title">See also</p>
-<p><a class="reference external" href="https://www.tutorialspoint.com/unix_commands/make.htm">https://www.tutorialspoint.com/unix_commands/make.htm</a></p>
-</div>
-<div class="section" id="build-and-install">
-<h3>Build and Install<a class="headerlink" href="#build-and-install" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">make</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">install</span></code></p>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre"><target></span></code>: Build a single target</p></li>
-</ul>
-</div>
-<div class="section" id="executing-tests">
-<h3>Executing Tests<a class="headerlink" href="#executing-tests" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>All tests: <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">test</span> <span class="pre">ARGS="--output-on-failure</span> <span class="pre">-j3"</span></code></p></li>
-<li><p>Single test: <code class="docutils literal notranslate"><span class="pre">make</span> <span class="pre">test</span> <span class="pre">OpenPassSlave_Tests</span> <span class="pre">ARGS="--output-on-failure</span> <span class="pre">-j3"</span></code></p></li>
-</ul>
-</div>
-</div>
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-<p>To compile <strong>openPASS</strong> with gcc/g++ locally under Windows, <a class="reference internal" href="../../../glossary.html#term-MSYS2"><span class="xref std std-term">MSYS2</span></a> programming tools are recommended.</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<div class="line-block">
-<div class="line">The windows programming tools suffer from a <cite>path length restriction</cite>.</div>
-<div class="line">This error manifests as strange <strong>file not found</strong> compile errors.</div>
-</div>
-</div>
-<div class="admonition-recommendation admonition">
-<p class="admonition-title">Recommendation</p>
-<div class="line-block">
-<div class="line">Use a short path for source code checkout, or map it directly to a drive letter.</div>
-<div class="line">This can be done by the windows command <a class="reference external" href="https://docs.microsoft.com/en-us/windows-server/administration/windows-commands/subst">subst</a>.</div>
-</div>
-</div>
-<div class="section" id="msys2">
-<span id="id2"></span><h2>MSYS2<a class="headerlink" href="#msys2" title="Permalink to this headline">¶</a></h2>
-<div class="line-block">
-<div class="line">This is a condensed version of the original MSYS2 guide found <a class="reference external" href="https://www.msys2.org/">here</a>.</div>
-</div>
-<div class="section" id="download">
-<h3>Download<a class="headerlink" href="#download" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li><p>Latest 64-bit packages are located at <a class="reference external" href="https://repo.msys2.org/distrib/x86_64/">https://repo.msys2.org/distrib/x86_64/</a>.</p></li>
-<li><p>Download a non-base package, i.e. <a class="reference external" href="https://repo.msys2.org/distrib/x86_64/msys2-x86_64-20200903.exe">msys2-x86_64-20200903.exe</a></p></li>
-</ul>
-</div>
-<div class="section" id="installation">
-<span id="msys2-installation"></span><h3>Installation<a class="headerlink" href="#installation" title="Permalink to this headline">¶</a></h3>
-<p>Run the downloaded executable and adjust suggested settings to your needs (defaults are fine).
-In the following, it is assumed that MSYS2 is installed under <code class="docutils literal notranslate"><span class="pre">C:\msys64</span></code>.</p>
-</div>
-<div class="section" id="environments">
-<h3>Environments<a class="headerlink" href="#environments" title="Permalink to this headline">¶</a></h3>
-<p>MSYS2 provides three different environments, located in the MSYS2 installation directory:</p>
-<div class="figure align-center" id="id3">
-<span id="fig-msys2-environments"></span><img alt="MSYS2 Apps" src="../../../_images/msys2.png" />
-<p class="caption"><span class="caption-text">MSYS2 Environments</span><a class="headerlink" href="#id3" title="Permalink to this image">¶</a></p>
-</div>
-<ul>
-<li><p>MSYS2 MSYS: Common environment, i.e. for package management</p></li>
-<li><p>MSYS2 MinGW 32-bit: A MinGW 32-bit environment</p></li>
-<li><div class="line-block">
-<div class="line">MSYS2 MinGW 64-bit: A MinGW 64-bit environment</div>
-<div class="line">This is <strong>the</strong> <strong>openPASS</strong> development environment and will be referred to as <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell.</div>
-</div>
-</li>
-</ul>
-</div>
-<div class="section" id="packages">
-<span id="msys2-packages"></span><h3>Packages<a class="headerlink" href="#packages" title="Permalink to this headline">¶</a></h3>
-<p>Update and install required packages (see also <a class="reference internal" href="20_prerequisites.html#prerequisites"><span class="std std-ref">Prerequisites</span></a>).</p>
-<ol class="arabic">
-<li><p>Open <code class="docutils literal notranslate"><span class="pre">MSYS2</span> <span class="pre">MSYS</span></code> and execute the following package manager <code class="docutils literal notranslate"><span class="pre">pacman</span></code> commands to update the package repository and upgrade system packages:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pacman -Syuu
-</pre></div>
-</div>
-<p>If the upgrade requires a restart of MSYS2, resume the upgrade by re-opening the shell and call:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pacman -Suu
-</pre></div>
-</div>
-</li>
-<li><p>Required packages (can be specified in single command line if desired):</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pacman -S mingw-w64-x86_64-boost <span class="c1">#1.75.0-2</span>
-pacman -S mingw-w64-x86_64-ccache <span class="c1">#3.7.9-1</span>
-pacman -S mingw-w64-x86_64-cmake <span class="c1">#3.19.2-1</span>
-pacman -S mingw-w64-x86_64-doxygen <span class="c1">#1.8.20-1</span>
-pacman -S mingw-w64-x86_64-gcc <span class="c1">#10.2.0-6</span>
-pacman -S mingw-w64-x86_64-gdb <span class="c1">#10.1-2</span>
-pacman -S mingw-w64-x86_64-graphviz <span class="c1">#2.44.1-3</span>
-pacman -S mingw-w64-x86_64-gtest <span class="c1">#1.10.0-1</span>
-pacman -S mingw-w64-x86_64-make <span class="c1">#4.3-1</span>
-pacman -S mingw-w64-x86_64-protobuf <span class="c1">#3.12.4-1</span>
-pacman -S mingw-w64-x86_64-qt5 <span class="c1">#5.15.2-5</span>
-</pre></div>
-</div>
-<div class="admonition-versions admonition">
-<p class="admonition-title">Versions</p>
-<div class="line-block">
-<div class="line">MSYS2 provides rolling release versions, so some packages might be too “up-to-date”.</div>
-<div class="line">Tested packages - ate time of writing - have been listed above as comment.</div>
-<div class="line">If in doubt, download the package in the right version from the <a class="reference external" href="http://repo.msys2.org/mingw/x86_64/">MSYS2 package repository</a>.</div>
-<div class="line">Install with <code class="docutils literal notranslate"><span class="pre">pacman</span> <span class="pre">-U</span> <span class="pre"><package-filename></span></code></div>
-</div>
-</div>
-</li>
-<li><p>Optional Packages</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pacman -S git
-pacman -S diffutils
-pacman -S patch
-pacman -S dos2unix
-pacman -S mingw-w64-x86_64-ag
-pacman -S mingw-w64-x86_64-qt5-debug
-</pre></div>
-</div>
-</li>
-</ol>
-<div class="admonition-git-ssh admonition">
-<p class="admonition-title">GIT/SSH</p>
-<p>The <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell does not access an already existing git installation or available SSH keys.
-Make sure, to update/copy your configuration and credentials within the <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell before working with git.</p>
-</div>
-</div>
-<div class="section" id="building-openpass">
-<h3>Building OpenPASS<a class="headerlink" href="#building-openpass" title="Permalink to this headline">¶</a></h3>
-<p>This snippet shows an example for building the <strong>openPASS</strong> (Open Source) simulation core from within the <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell.
-Refer to <a class="reference internal" href="40_cmake.html#cmake"><span class="std std-ref">Cmake Build Environment</span></a> for details on the arguments.</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake -G <span class="s2">"MinGW Makefiles"</span> <span class="se">\</span>
- -D <span class="nv">CMAKE_BUILD_TYPE</span><span class="o">=</span>Debug <span class="se">\</span>
- -D <span class="nv">OPENPASS_ADJUST_OUTPUT</span><span class="o">=</span>OFF <span class="se">\</span>
- -D <span class="nv">USE_CCACHE</span><span class="o">=</span>ON <span class="se">\</span>
- -D <span class="nv">WITH_DEBUG_POSTFIX</span><span class="o">=</span>OFF <span class="se">\</span>
- -D <span class="nv">WITH_GUI</span><span class="o">=</span>OFF <span class="se">\</span>
- -D <span class="nv">WITH_PROTOBUF_ARENA</span><span class="o">=</span>ON <span class="se">\</span>
- -D <span class="nv">CMAKE_INSTALL_PREFIX</span><span class="o">=</span>C:/OpenPASS/bin/core <span class="se">\</span>
- -D <span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span><span class="s2">"PATH_FMIL;PATH_BOOST;PATH_OSI;PATH_PROTOBUF;PATH_GTEST"</span> <span class="se">\</span>
- ..
-
- mingw32-make -j3
- mingw32-make install
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The call to mingw32-make might be misleading, but actually calls gcc/g++ 64-bit.</p>
-</div>
-</div>
-<div class="section" id="execution">
-<span id="runmingwexe"></span><h3>Execution<a class="headerlink" href="#execution" title="Permalink to this headline">¶</a></h3>
-<p>Files compiled within the <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell depend on the <a class="reference internal" href="../../../glossary.html#term-MinGW"><span class="xref std std-term">MinGW</span></a> libraries.
-Providing this libraries to the executable can be done by following means:</p>
-<ul>
-<li><p>Execute within the <code class="docutils literal notranslate"><span class="pre">MinGW</span> <span class="pre">64-bit</span></code> shell.</p></li>
-<li><p>Add <code class="docutils literal notranslate"><span class="pre">C:\msys64\mingw64\bin</span></code> permanently to the <em>Windows Environment Variable</em> <code class="docutils literal notranslate"><span class="pre">Path</span></code>.</p></li>
-<li><p>Temporarily set <code class="docutils literal notranslate"><span class="pre">Path</span></code> prior to the execution, e.g. in a wrapper:</p>
-<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span># your_program.cmd
-<span class="k">Path</span>=C:\msys64\mingw64\bin;<span class="nv">%Path%</span> # set Path
-your_program.exe # execute
-</pre></div>
-</div>
-</li>
-<li><div class="line-block">
-<div class="line">Copy the required libraries right next to your executable.</div>
-<div class="line">For <strong>openPASS</strong>, the following librares are required:</div>
-</div>
-<ul class="simple">
-<li><p>libdouble-conversion.dll</p></li>
-<li><p>libgcc_s_seh-1.dll</p></li>
-<li><p>libicudt67.dll</p></li>
-<li><p>libicuin67.dll</p></li>
-<li><p>libicuuc67.dll</p></li>
-<li><p>libpcre2-16-0.dll</p></li>
-<li><p>libstdc++-6.dll</p></li>
-<li><p>libwinpthread-1.dll</p></li>
-<li><p>libzstd.dll</p></li>
-<li><p>zlib1.dll</p></li>
-</ul>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>You might need to update the some libraries manually, when package are upgraded.</p>
-</div>
-</li>
-</ul>
-</div>
-</div>
-</div>
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-<span id="id1"></span><h1>Building under Linux<a class="headerlink" href="#building-under-linux" title="Permalink to this headline">¶</a></h1>
-<p>Before building <strong>openPASS</strong>, install the according <a class="reference internal" href="20_prerequisites.html#prerequisites"><span class="std std-ref">Prerequisites</span></a>.
-OpenPass is developed under Debian 64-Bit, which means that developing under a recent Ubuntu distribution should also work.
-Debian uses <code class="docutils literal notranslate"><span class="pre">apt</span></code> (or <code class="docutils literal notranslate"><span class="pre">apt-get</span></code>) as package managing system, and most prerequisites should be installable via <code class="docutils literal notranslate"><span class="pre">app</span> <span class="pre">install</span> <span class="pre">package</span></code>.</p>
-<p>This snippet shows an example for building <strong>openPASS</strong> (Open Source).
-Refer to <a class="reference internal" href="40_cmake.html#cmake"><span class="std std-ref">Cmake Build Environment</span></a> for details on the arguments.</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cmake
- -D <span class="nv">CMAKE_BUILD_TYPE</span><span class="o">=</span>Debug <span class="se">\</span>
- -D <span class="nv">OPENPASS_ADJUST_OUTPUT</span><span class="o">=</span>OFF <span class="se">\</span>
- -D <span class="nv">USE_CCACHE</span><span class="o">=</span>ON <span class="se">\</span>
- -D <span class="nv">WITH_DEBUG_POSTFIX</span><span class="o">=</span>OFF <span class="se">\</span>
- -D <span class="nv">WITH_GUI</span><span class="o">=</span>OFF <span class="se">\</span>
- -D <span class="nv">WITH_PROTOBUF_ARENA</span><span class="o">=</span>ON <span class="se">\</span>
- -D <span class="nv">CMAKE_INSTALL_PREFIX</span><span class="o">=</span>/OpenPASS/bin/core <span class="se">\</span>
-<span class="hll"> -D <span class="nv">CMAKE_PREFIX_PATH</span><span class="o">=</span>PATH_FMIL<span class="se">\;</span>PATH_BOOST<span class="se">\;</span>PATH_OSI<span class="se">\;</span>PATH_PROTOBUF<span class="se">\;</span>PATH_GTEST <span class="se">\</span>
-</span> ..
-
- make -j3
- make install
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Don’t forget to escape the semicolon <code class="docutils literal notranslate"><span class="pre">;</span></code> (see <a class="reference internal" href="40_cmake.html#cmake-prefix-path"><span class="std std-ref">CMAKE_PREFIX_PATH</span></a>)</p>
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diff --git a/content/html/installation_guide/sim_installation_guide/meta/sphinx.html b/content/html/installation_guide/sim_installation_guide/meta/sphinx.html
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-<span id="id1"></span><h1>Sphinx<a class="headerlink" href="#sphinx" title="Permalink to this headline">¶</a></h1>
-<div class="section" id="what-is-sphinx">
-<h2>What is Sphinx<a class="headerlink" href="#what-is-sphinx" title="Permalink to this headline">¶</a></h2>
-<p>Sphinx is a python based documentation generator, using <a class="reference external" href="https://www.sphinx-doc.org/en/master/usage/restructuredtext/basics.html">reStructuredText</a> as primary import format.</p>
-</div>
-<div class="section" id="who-uses-sphinx">
-<h2>Who uses Sphinx<a class="headerlink" href="#who-uses-sphinx" title="Permalink to this headline">¶</a></h2>
-<ul class="simple">
-<li><p>Everybody who publishes on <a class="reference external" href="https://readthedocs.org/">ReadTheDocs</a></p></li>
-<li><p><a class="reference external" href="https://github.com/OpenSimulationInterface/osi-documentation">OSI</a></p></li>
-</ul>
-</div>
-<div class="section" id="why-not-markdown">
-<h2>Why not markdown<a class="headerlink" href="#why-not-markdown" title="Permalink to this headline">¶</a></h2>
-<ul class="simple">
-<li><p>Markdown was not invented to write documentation</p></li>
-<li><p>Right now the doxygen implementation is not pure markdown, which makes it a bit nasty to use</p></li>
-<li><p>Markdown does not support true references (and reference checking), figures (and captions), toc, glossary, versioning, …</p></li>
-<li><p>Markdown is also supported by sphinx, but does not integrate with the cool and fancy features.</p></li>
-</ul>
-</div>
-<div class="section" id="resources">
-<h2>Resources<a class="headerlink" href="#resources" title="Permalink to this headline">¶</a></h2>
-<ul class="simple">
-<li><p><a class="reference external" href="https://www.sphinx-doc.org/en/master/usage/restructuredtext/basics.html">reStructuredText Primer</a></p></li>
-<li><p><a class="reference external" href="https://sphinx-rtd-tutorial.readthedocs.io/en/latest/index.html">A “How to” Guide for Sphinx + ReadTheDocs</a></p></li>
-<li><p><a class="reference external" href="https://www.sphinx-doc.org">Sphinx Documentation</a></p></li>
-<li><p><a class="reference external" href="https://github.com/OpenSimulationInterface/osi-documentation/blob/master/conf.py">OSI Sphinx Config</a></p></li>
-</ul>
-</div>
-<div class="section" id="building-this-documentation-linux-debian">
-<h2>Building this Documentation (Linux/Debian)<a class="headerlink" href="#building-this-documentation-linux-debian" title="Permalink to this headline">¶</a></h2>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># install python, pip, sphinx, spellchecker, ...</span>
-sudo apt install doxygen python3 python3-pip python3-sphinx libenchant-2-2 dvipng
-
-<span class="c1"># install sphinx extensions</span>
-pip3 install sphinx sphinx-rtd-theme sphinx-tabs breathe exhale sphinxcontrib-spelling
-
-<span class="c1"># build doc (only)</span>
-mkdir build
-<span class="nb">cd</span> build
-cmake -DWITH_SIMCORE<span class="o">=</span>OFF -DWITH_TESTS<span class="o">=</span>OFF -DWITH_DOC<span class="o">=</span>ON ..
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diff --git a/content/html/license.html b/content/html/license.html
deleted file mode 100644
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+++ /dev/null
@@ -1,240 +0,0 @@
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-<!DOCTYPE html>
-<html class="writer-html5" lang="en" >
-<head>
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-<li class="toctree-l1"><a class="reference internal" href="installation_guide/21_pcm_installation_guide.html">PCM Installation Guide</a></li>
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-<ul>
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diff --git a/content/html/objects.inv b/content/html/objects.inv
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new file mode 100644
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+++ b/content/html/other_information/10_external_dependencies.html
@@ -0,0 +1,415 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
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+
+ <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+<li class="toctree-l1"><a class="reference internal" href="../user_guide/60_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Developer Information</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/20_documentation.html">Documentation Concept</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">External Dependencies</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#information-on-binary-packages">Information on Binary Packages</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#gnu-compiler-collection-gcc">GNU Compiler Collection (gcc)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#gnu-debugger-gdb">GNU Debugger (gdb)</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#cmake">CMake</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="#googletest">googletest</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="#information-on-source-packages">Information on Source Packages</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#open-simulation-interface-osi">Open Simulation Interface (OSI)</a></li>
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+
+ <div class="section" id="external-dependencies">
+<h1>External Dependencies<a class="headerlink" href="#external-dependencies" title="Permalink to this headline">¶</a></h1>
+<p><strong>OpenPASS</strong> depends on a number of external dependencies. Installation of those dependencies is described in <a class="reference internal" href="../installation_guide/20_install_prerequisites.html#prerequisites"><span class="std std-ref">Installing Prerequisites</span></a>.</p>
+<p>The third party software dependency of <strong>openPASS</strong> can be divided into:</p>
+<ul class="simple">
+<li><p><strong>Build environment</strong>, which manages third party software and is used to compile and install <strong>openPASS</strong></p></li>
+<li><p><strong>Binary packages</strong>, which can be easily installed via a package manager of the respective build environment</p></li>
+<li><p><strong>Source packages</strong>, which need to be built from source code</p></li>
+</ul>
+<p>This section gives an overview of the dependencies and how they are used.</p>
+<div class="section" id="information-on-binary-packages">
+<h2>Information on Binary Packages<a class="headerlink" href="#information-on-binary-packages" title="Permalink to this headline">¶</a></h2>
+<div class="section" id="gnu-compiler-collection-gcc">
+<h3>GNU Compiler Collection (gcc)<a class="headerlink" href="#gnu-compiler-collection-gcc" title="Permalink to this headline">¶</a></h3>
+<p>Version (latest tested): 10.2.3</p>
+<p><strong>OpenPASS</strong> is developed on Linux and Windows (64-Bit) in <a class="reference external" href="https://isocpp.org/">C++17</a> using the GNU Compiler Collection (<a class="reference external" href="https://gcc.gnu.org/">gcc</a>).</p>
+<div class="admonition-useful-hints admonition">
+<p class="admonition-title">Useful hints</p>
+<ul>
+<li><div class="line-block">
+<div class="line"><strong>openPASS</strong> has been developed using gcc 7.x, 8.x, 9.x, and more recently gcc 10.x.
+| There are no known issues regarding the different versions.</div>
+</div>
+</li>
+<li><p>Since no compiler specific features are used, the source should also compile with <a class="reference external" href="https://clang.llvm.org/">clang</a>.</p></li>
+<li><p>Generally, there is support for <a class="reference external" href="https://docs.microsoft.com/en-us/cpp/build/reference/c-cpp-building-reference">MSVC</a> , but currently not actively maintained by the <strong>openPASS</strong> Working Group.</p></li>
+</ul>
+</div>
+</div>
+<div class="section" id="gnu-debugger-gdb">
+<h3>GNU Debugger (gdb)<a class="headerlink" href="#gnu-debugger-gdb" title="Permalink to this headline">¶</a></h3>
+<p>Version (latest tested): 9.2</p>
+<p>Debugging tools for gcc: <a class="reference external" href="https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html">https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html</a></p>
+</div>
+<div class="section" id="cmake">
+<h3>CMake<a class="headerlink" href="#cmake" title="Permalink to this headline">¶</a></h3>
+<p>Version (latest tested): 3.18.4</p>
+<p><strong>OpenPASS</strong> uses <a class="reference external" href="https://cmake.org/">CMake</a> for building and testing.
+For details on the provided options, see <a class="reference internal" href="../installation_guide/further_guidance/10_cmake.html#cmake"><span class="std std-ref">CMake Variables and Options</span></a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The former support for <code class="docutils literal notranslate"><span class="pre">qmake</span></code> is expiring and not documented anymore.</p>
+</div>
+</div>
+<div class="section" id="ccache">
+<span id="prerequisites-ccache"></span><h3>Ccache<a class="headerlink" href="#ccache" title="Permalink to this headline">¶</a></h3>
+<p>Version (latest tested): 3.7.11</p>
+<p><strong>OpenPASS</strong> supports the compiler cache <a class="reference external" href="https://ccache.dev/">Ccache</a> for faster recompilation.
+Use only, if you need to recompile regularly.</p>
+<div class="admonition-useful-hints admonition">
+<p class="admonition-title">Useful hints</p>
+<ul class="simple">
+<li><p>The first compilation is definilty slower (e.g. by 30%), as the cache needs to be built.</p></li>
+<li><p>If used regularily, increasing the cache size is recommended, e.g.: <code class="docutils literal notranslate"><span class="pre">ccache</span> <span class="pre">-M</span> <span class="pre">20G</span></code></p></li>
+</ul>
+</div>
+</div>
+<div class="section" id="doxygen">
+<h3>Doxygen<a class="headerlink" href="#doxygen" title="Permalink to this headline">¶</a></h3>
+<p>Version (latest tested): 1.8.20</p>
+<p>Documentation is created using <a class="reference external" href="https://www.doxygen.nl/index.html">Doxygen</a>.</p>
+<div class="admonition-useful-hints admonition">
+<p class="admonition-title">Useful hints</p>
+<ul class="simple">
+<li><dl class="simple">
+<dt>Doxygen introduced support for Markdown with 1.8, which is still in use.</dt><dd><p>Don’t use older versions.</p>
+</dd>
+</dl>
+</li>
+</ul>
+</div>
+</div>
+<div class="section" id="qt-framework">
+<h3>Qt Framework<a class="headerlink" href="#qt-framework" title="Permalink to this headline">¶</a></h3>
+<p>Version (officially supported): 5.12.3</p>
+<p><strong>OpenPASS</strong> uses some features from the <a class="reference external" href="https://www.qt.io/">Qt</a> framework.
+While the GUI of <strong>openPASS</strong> (Open Source) heavily relies on it, the simulator tries to stick to the C++ standard framework as far as possible.</p>
+<div class="admonition-note-on-versions admonition">
+<p class="admonition-title">Note on Versions</p>
+<div class="line-block">
+<div class="line">Versions starting from 5.4 should generally work, but are not officially supported anymore/yet.</div>
+<div class="line">Version 5.15.1 has been reported to work well.</div>
+</div>
+</div>
+</div>
+<div class="section" id="boost-c-libraries">
+<h3>Boost C++ Libraries<a class="headerlink" href="#boost-c-libraries" title="Permalink to this headline">¶</a></h3>
+<p>Version (officially supported): 1.72.0</p>
+<p>Especially for geometrical calculations, <strong>openPASS</strong> uses parts of the <a class="reference external" href="https://www.boost.org/">Boost C++ Libraries</a>.</p>
+<div class="admonition-note-on-versions admonition">
+<p class="admonition-title">Note on Versions</p>
+<p>More recent versions should integrate without issues, but 1.74.0 already raise warnings for some deprecated headers.</p>
+</div>
+</div>
+<div class="section" id="googletest">
+<h3>googletest<a class="headerlink" href="#googletest" title="Permalink to this headline">¶</a></h3>
+<p>Version (officially supported): 1.10.0</p>
+<p>Tests are written in <a class="reference external" href="https://github.com/google/googletest">googletest</a> and <strong>OpenPASS</strong> makes use of the included <em>googletest</em> (gtest) C++ testing framework, as well as the included mocking framework <em>googlemock</em> (gmock).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The lastest major release brought several API changes, which made some code fixes necessary.
+Use newer versions with precaution.</p>
+</div>
+</div>
+</div>
+<div class="section" id="information-on-source-packages">
+<h2>Information on Source Packages<a class="headerlink" href="#information-on-source-packages" title="Permalink to this headline">¶</a></h2>
+<p>The second and last set of dependencies we need to dissolve are based on source packages.
+Since installing such source packages is not easy, we have dedicated a separate chapter on this topic.
+See <span class="xref std std-ref">Building prerequisites</span> for a step-by-step instruction on how to download, build and install needed source packages.</p>
+<p>Details on source packages:</p>
+<div class="section" id="open-simulation-interface-osi">
+<span id="prerequisites-osi"></span><h3>Open Simulation Interface (OSI)<a class="headerlink" href="#open-simulation-interface-osi" title="Permalink to this headline">¶</a></h3>
+<p>Version (officially supported): 3.2.0</p>
+<p>The internal world representation uses the <a class="reference external" href="https://github.com/OpenSimulationInterface">Open Simulation Interface</a> (<a class="reference internal" href="20_glossary.html#term-OSI"><span class="xref std std-term">OSI</span></a>) as part of its ground truth (backend storage) and exchange format.</p>
+<div class="figure align-center" id="id6">
+<a class="reference internal image-reference" href="../_images/osi_in_openpass.png"><img alt="OSI in |op|" src="../_images/osi_in_openpass.png" style="width: 514.1999999999999px; height: 131.4px;" /></a>
+<p class="caption"><span class="caption-text">Interaction between World and consumers of OSI messages.</span><a class="headerlink" href="#id6" title="Permalink to this image">¶</a></p>
+</div>
+<p>Thereby, OSI provides data structures for representation of various objects in traffic simulation environments.
+Note that OSI is primarily developed in a sensor centric view, such as lane markings and object boundaries.
+Beyond that, <strong>openPASS</strong> holds data for non-sensor centric data, such as metainfo on lanes and roads.</p>
+<p>As shown, OSI itself depends on <a class="reference internal" href="#prerequisites-protobuf"><span class="std std-ref">Protocol Buffers (protobuf)</span></a>.
+If not already installed, the library and headers have to be built prior to OSI.</p>
+<div class="admonition-note-on-versions admonition">
+<p class="admonition-title">Note on Versions</p>
+<p><strong>OpenPASS</strong> supports <strong>integration of custom made or experimental versions</strong> of OSI (see <a class="reference internal" href="../installation_guide/20_install_prerequisites.html#building-osi"><span class="std std-ref">Build and Install OSI</span></a>).
+For example, <cite>Algorithm_FmuWrapper</cite> and the wrapped <cite>OSMP</cite> FMUs use the proposed OSI messages <cite>TrafficUpdate</cite> and <cite>TrafficCommand</cite>, not yet defined in OSI 3.2.0.</p>
+</div>
+</div>
+<div class="section" id="protocol-buffers-protobuf">
+<span id="prerequisites-protobuf"></span><h3>Protocol Buffers (protobuf)<a class="headerlink" href="#protocol-buffers-protobuf" title="Permalink to this headline">¶</a></h3>
+<p>Supported Version (officially supported): 3.12.2</p>
+<p><a class="reference internal" href="#prerequisites-osi"><span class="std std-ref">Open Simulation Interface (OSI)</span></a> uses <a class="reference external" href="https://developers.google.com/protocol-buffers">Protocol Buffers</a> for describing and serialization of its datastructures.</p>
+<div class="admonition-note-on-versions admonition">
+<p class="admonition-title">Note on Versions</p>
+<ul class="simple">
+<li><p>So far, no version limitations known (including 2.x).</p></li>
+<li><p><strong>OpenPASS</strong> lets you integrate your own protobuf libraries if necessary (see <a class="reference internal" href="../installation_guide/further_guidance/40_custom_proto.html#building-protobuf"><span class="std std-ref">Custom Protobuf Build</span></a>).</p></li>
+</ul>
+</div>
+</div>
+<div class="section" id="modelon-fmi-library-fmil">
+<h3>Modelon FMI Library (FMIL)<a class="headerlink" href="#modelon-fmi-library-fmil" title="Permalink to this headline">¶</a></h3>
+<p>Supported Version: 2.0.3</p>
+<p>For integration of Functional Mock-up Units (FMUs) the <cite>Algorithm_FmuWrapper</cite> uses the <a class="reference external" href="https://github.com/modelon-community/fmi-library">Modelon FMI Library</a>.
+As there is no binary available, FMIL needs to be build from scratch before <strong>openPASS</strong> can be compiled (see <a class="reference internal" href="../installation_guide/20_install_prerequisites.html#building-fmil"><span class="std std-ref">Build and Install FMIL</span></a>).</p>
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-<h1>Glossary<a class="headerlink" href="#glossary" title="Permalink to this headline">¶</a></h1>
-<dl class="glossary simple">
-<dt id="term-ADAS">ADAS<a class="headerlink" href="#term-ADAS" title="Permalink to this term">¶</a></dt><dd><p>Advanced Driving Assistance Systems</p>
-</dd>
-<dt id="term-AEB">AEB<a class="headerlink" href="#term-AEB" title="Permalink to this term">¶</a></dt><dd><p>Autonomous Emergency Brake
-preventive emergency braking in danger (support or independent launch)</p>
-</dd>
-<dt id="term-Channel">Channel<a class="headerlink" href="#term-Channel" title="Permalink to this term">¶</a></dt><dd><p>Connects components within an agent (using unique ID)</p>
-</dd>
-<dt id="term-Component">Component<a class="headerlink" href="#term-Component" title="Permalink to this term">¶</a></dt><dd><p>A module that is part of an agent’s equipment</p>
-</dd>
-<dt id="term-COG">COG<a class="headerlink" href="#term-COG" title="Permalink to this term">¶</a></dt><dd><p>Center of gravity</p>
-</dd>
-<dt id="term-Dynamics">Dynamics<a class="headerlink" href="#term-Dynamics" title="Permalink to this term">¶</a></dt><dd><p>Calculation of dynamic parameters, e.g. position of Agent</p>
-</dd>
-<dt id="term-MinGW">MinGW<a class="headerlink" href="#term-MinGW" title="Permalink to this term">¶</a></dt><dd><p>Complete Open Source programming tool set, suitable for the development of native MS-Windows applications.</p>
-</dd>
-<dt id="term-Model">Model<a class="headerlink" href="#term-Model" title="Permalink to this term">¶</a></dt><dd><p>An abstract representation of a real object which might omit details e.g. ADAS, driving dynamics, pedestrian, environmental conditions. In the PreCASE framework, a model consists of one or more modules as well as channels connecting them.</p>
-</dd>
-<dt id="term-Module">Module<a class="headerlink" href="#term-Module" title="Permalink to this term">¶</a></dt><dd><p>A dynamic library that is loaded and whose interface functions are called by the framework. Modules contain models or other individual functionality necessary for the simulation. Modules are exchangeable and can be fitted to various purposes ensuring ahigh flexibility of the framework.</p>
-</dd>
-<dt id="term-MSYS">MSYS<a class="headerlink" href="#term-MSYS" title="Permalink to this term">¶</a></dt><dd><p>Collection of GNU utilities (e.g. bash, make, gcc) to allow building of programs which depend on traditionally UNIX tools to be present. It is intended to supplement <a class="reference internal" href="#term-MinGW"><span class="xref std std-term">MinGW</span></a>.</p>
-</dd>
-<dt id="term-MSYS2">MSYS2<a class="headerlink" href="#term-MSYS2" title="Permalink to this term">¶</a></dt><dd><p>Independent rewrite of <a class="reference internal" href="#term-MSYS"><span class="xref std std-term">MSYS</span></a>, based on Cygwin (POSIX compatibility layer) and MinGW-w64.</p>
-</dd>
-<dt id="term-OD">OD<a class="headerlink" href="#term-OD" title="Permalink to this term">¶</a></dt><dd><p>openDRIVE</p>
-</dd>
-<dt id="term-openPASS">openPASS<a class="headerlink" href="#term-openPASS" title="Permalink to this term">¶</a></dt><dd><p>Open Platform for Assessment of Safety Systems</p>
-</dd>
-<dt id="term-OSI">OSI<a class="headerlink" href="#term-OSI" title="Permalink to this term">¶</a></dt><dd><p>A generic interface for the environmental perception of automated driving functions in virtual scenarios.</p>
-</dd>
-<dt id="term-PreCASE">PreCASE<a class="headerlink" href="#term-PreCASE" title="Permalink to this term">¶</a></dt><dd><p>Framework for the Simulative Evaluation of Active Safety Systems in Vehicles (OpenPASS predecessor).</p>
-</dd>
-<dt id="term-Scenario">Scenario<a class="headerlink" href="#term-Scenario" title="Permalink to this term">¶</a></dt><dd><p>A set of similar traffic situations.</p>
-</dd>
-<dt id="term-TTC">TTC<a class="headerlink" href="#term-TTC" title="Permalink to this term">¶</a></dt><dd><p>Time to collision</p>
-</dd>
-</dl>
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+ <div class="section" id="glossary">
+<h1>Glossary<a class="headerlink" href="#glossary" title="Permalink to this headline">¶</a></h1>
+<dl class="glossary simple">
+<dt id="term-ADAS">ADAS<a class="headerlink" href="#term-ADAS" title="Permalink to this term">¶</a></dt><dd><p>Advanced Driving Assistance Systems</p>
+</dd>
+<dt id="term-AEB">AEB<a class="headerlink" href="#term-AEB" title="Permalink to this term">¶</a></dt><dd><p>Autonomous Emergency Brake
+preventive emergency braking in danger (support or independent launch)</p>
+</dd>
+<dt id="term-Channel">Channel<a class="headerlink" href="#term-Channel" title="Permalink to this term">¶</a></dt><dd><p>Connects components within an agent (using unique ID)</p>
+</dd>
+<dt id="term-Component">Component<a class="headerlink" href="#term-Component" title="Permalink to this term">¶</a></dt><dd><p>A module that is part of an agent’s equipment</p>
+</dd>
+<dt id="term-COG">COG<a class="headerlink" href="#term-COG" title="Permalink to this term">¶</a></dt><dd><p>Center of gravity</p>
+</dd>
+<dt id="term-Dynamics">Dynamics<a class="headerlink" href="#term-Dynamics" title="Permalink to this term">¶</a></dt><dd><p>Calculation of dynamic parameters, e.g. position of Agent</p>
+</dd>
+<dt id="term-MinGW">MinGW<a class="headerlink" href="#term-MinGW" title="Permalink to this term">¶</a></dt><dd><p>Complete Open Source programming tool set, suitable for the development of native MS-Windows applications.</p>
+</dd>
+<dt id="term-Model">Model<a class="headerlink" href="#term-Model" title="Permalink to this term">¶</a></dt><dd><p>An abstract representation of a real object which might omit details e.g. ADAS, driving dynamics, pedestrian, environmental conditions. In the PreCASE framework, a model consists of one or more modules as well as channels connecting them.</p>
+</dd>
+<dt id="term-Module">Module<a class="headerlink" href="#term-Module" title="Permalink to this term">¶</a></dt><dd><p>A dynamic library that is loaded and whose interface functions are called by the framework. Modules contain models or other individual functionality necessary for the simulation. Modules are exchangeable and can be fitted to various purposes ensuring ahigh flexibility of the framework.</p>
+</dd>
+<dt id="term-MSYS">MSYS<a class="headerlink" href="#term-MSYS" title="Permalink to this term">¶</a></dt><dd><p>Collection of GNU utilities (e.g. bash, make, gcc) to allow building of programs which depend on traditionally UNIX tools to be present. It is intended to supplement <a class="reference internal" href="#term-MinGW"><span class="xref std std-term">MinGW</span></a>.</p>
+</dd>
+<dt id="term-MSYS2">MSYS2<a class="headerlink" href="#term-MSYS2" title="Permalink to this term">¶</a></dt><dd><p>Independent rewrite of <a class="reference internal" href="#term-MSYS"><span class="xref std std-term">MSYS</span></a>, based on Cygwin (POSIX compatibility layer) and MinGW-w64.</p>
+</dd>
+<dt id="term-OD">OD<a class="headerlink" href="#term-OD" title="Permalink to this term">¶</a></dt><dd><p>openDRIVE</p>
+</dd>
+<dt id="term-openPASS">openPASS<a class="headerlink" href="#term-openPASS" title="Permalink to this term">¶</a></dt><dd><p>Open Platform for Assessment of Safety Systems</p>
+</dd>
+<dt id="term-OSI">OSI<a class="headerlink" href="#term-OSI" title="Permalink to this term">¶</a></dt><dd><p>A generic interface for the environmental perception of automated driving functions in virtual scenarios.</p>
+</dd>
+<dt id="term-PreCASE">PreCASE<a class="headerlink" href="#term-PreCASE" title="Permalink to this term">¶</a></dt><dd><p>Framework for the Simulative Evaluation of Active Safety Systems in Vehicles (OpenPASS predecessor).</p>
+</dd>
+<dt id="term-Scenario">Scenario<a class="headerlink" href="#term-Scenario" title="Permalink to this term">¶</a></dt><dd><p>A set of similar traffic situations.</p>
+</dd>
+<dt id="term-TTC">TTC<a class="headerlink" href="#term-TTC" title="Permalink to this term">¶</a></dt><dd><p>Time to collision</p>
+</dd>
+</dl>
+</div>
+
+
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+
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diff --git a/content/html/user_guide/10_gui_user_guide.html b/content/html/other_information/30_license.html
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+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing OpenPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption"><span class="caption-text">User Guides</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/10_overview.html">Overview</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../user_guide/40_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../user_guide/60_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/20_documentation.html">Documentation Concept</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="10_external_dependencies.html">External Dependencies</a></li>
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+ <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+ <div itemprop="articleBody">
+
+ <div class="section" id="license">
+<h1>License<a class="headerlink" href="#license" title="Permalink to this headline">¶</a></h1>
+<p>This program and the accompanying materials are made available under the terms of the Eclipse Public License 2.0 which is available at <a class="reference external" href="https://www.eclipse.org/legal/epl-2.0/">https://www.eclipse.org/legal/epl-2.0/</a></p>
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+ </div>
+
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+
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--- a/content/html/search.html
+++ b/content/html/search.html
@@ -1,249 +1,258 @@
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+<li class="toctree-l1"><a class="reference internal" href="installation_guide/60_conan.html">Building with Conan</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
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+<li class="toctree-l1 current"><a class="current reference internal" href="#">Overview</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#getting-started">Getting Started</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="#interaction-gui-and-framework">Interaction GUI and Framework</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#workflow">Workflow</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#primer">Primer</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#inputs">Inputs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#outputs">Outputs</a></li>
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+
+ <div class="section" id="overview">
+<span id="user-guide-overview"></span><h1>Overview<a class="headerlink" href="#overview" title="Permalink to this headline">¶</a></h1>
+<div class="admonition-before-we-start admonition">
+<p class="admonition-title">Before we start…</p>
+<p>The official Working Group website of <strong>openPASS</strong> (Open Source) (<a class="reference external" href="https://openpass.eclipse.org/">https://openpass.eclipse.org/</a>) offers a lot of information, well suited for beginners.</p>
+</div>
+<div class="section" id="getting-started">
+<h2>Getting Started<a class="headerlink" href="#getting-started" title="Permalink to this headline">¶</a></h2>
+<p>This chapter provides insights on openPASS and how to work with the simulation.
+The following step-by-step guides are included to guide you through your first simulations with openPASS:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Scenario-based Simulation: traffic simulation based on OpenSCENARIO description</p></li>
+<li><p>PCM Simulation: crash re-simulation based on GIDAS record</p></li>
+</ul>
+</div></blockquote>
+<p>In particular, it is presented how to go through the required steps until a simulation can be run successfully.
+To enhance the guiding, there are going to be examples in every section.
+It is important to mention that openPASS is still in progress and e. g. some plugins and options have not been fully implemented yet.</p>
+</div>
+<div class="section" id="intended-audience">
+<h2>Intended Audience<a class="headerlink" href="#intended-audience" title="Permalink to this headline">¶</a></h2>
+<p>This manual serves as an entry point for users who have an operational simulator at hand (see <a class="reference internal" href="../installation_guide/10_getting_started.html#sim-install-guide"><span class="std std-ref">Getting Started</span></a>) and want to carry out (first) experiments at the invocation level (<em>GUI-less mode</em>).
+In this sense, it primarily tackles how input-sets are composed, their interdependencies and, finally, the generated outputs.</p>
+<img alt="|op| Workflow" src="../_images/workflow.png" />
+<p>This image shows the <em>GUI-less</em> workflow, starting with the input-set, bundled together in a folder typically named <code class="docutils literal notranslate"><span class="pre">configs</span></code>.
+The <code class="docutils literal notranslate"><span class="pre">core</span></code>, executed manually by the experimenter, processes these configs and generates an (configurable) output-set typically placed in a folder named <code class="docutils literal notranslate"><span class="pre">results</span></code>.
+Thereby, the <strong>Simulation Output</strong> is again a set of files.</p>
+</div>
+<div class="section" id="interaction-gui-and-framework">
+<h2>Interaction GUI and Framework<a class="headerlink" href="#interaction-gui-and-framework" title="Permalink to this headline">¶</a></h2>
+<img alt="../_images/gui_framework_overview.png" src="../_images/gui_framework_overview.png" />
+<p>The GUI sits on top of the simulation framework. It produces configuration files for the framework based on the User Input.
+With these files, the GUI can trigger the simulation to start und produce results in form of different files.
+These files can then be read evaluated by the GUI.</p>
+</div>
+<div class="section" id="workflow">
+<h2>Workflow<a class="headerlink" href="#workflow" title="Permalink to this headline">¶</a></h2>
+<p>A typical workflow can be:</p>
+<blockquote>
+<div><ol class="arabic simple">
+<li><p>Configure systems and agents</p></li>
+<li><p>Configure the simulation</p></li>
+<li><p>Run the simulation</p></li>
+<li><p>Evaluate the simulation results</p></li>
+<li><p>Close the loop by continuing with your next simulation</p></li>
+</ol>
+</div></blockquote>
+</div>
+<div class="section" id="primer">
+<span id="id1"></span><h2>Primer<a class="headerlink" href="#primer" title="Permalink to this headline">¶</a></h2>
+<p>In the following the input and output sets are described with respect to the intended audience.
+For detailed information please refer to the “in-depth” documentation of the individual files.</p>
+<div class="section" id="inputs">
+<h3>Inputs<a class="headerlink" href="#inputs" title="Permalink to this headline">¶</a></h3>
+<p>The input is focused around the following files, with decreasing importance for the current audience.</p>
+<ul>
+<li><p><strong>Scenario</strong></p>
+<p>This file describes the overall situation in terms of the <strong>ASAM OpenSCENARIO 1.0</strong> standard.
+This includes placement of cars, the story (what happens when), how long the simulation will run.</p>
+<p>On top it contains links to additionally needed files, where the following might need modification with respect to the current audience:</p>
+<ul>
+<li><p><strong>Scenery</strong> (<code class="docutils literal notranslate"><span class="pre">*.xosc</span></code>)</p>
+<p>The <strong>scenery</strong> file, which follows the <strong>ASAM OpenDRIVE 1.6</strong> standard, describes the world in which the experiment runs, such as a highway, or a parking lot.
+As such, it contains the description of the road network and any static object, such as traffic signs or obstacles.</p>
+</li>
+<li><p><strong>ProfilesCatalog</strong> (<code class="docutils literal notranslate"><span class="pre">*.xml</span></code>)</p></li>
+</ul>
+<blockquote>
+<div><p>This catalog describes the profiles of moving participants and are the probabilistic heart of the simulation.
+A profile could be a <strong>MiddleClassCar</strong>, and describes which components could be available with what probability.
+Such components could be ADAS’s or sensors and as such, their parametrization is also found here.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>As <strong>OpenSCENARIO</strong> does not support probabilities (yet), this file is not conform to the standard.</p>
+</div>
+</div></blockquote>
+<ul>
+<li><p><strong>VehiclesCatalog</strong> and <strong>PedestriansCatalog</strong>: (<code class="docutils literal notranslate"><span class="pre">*.xosc</span></code>)</p>
+<p>These catalogs, also based on <strong>OpenSCENARIO</strong>, describes the physical parameters of available vehicles or pedestrians, respectively.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Historically, the referenced files have carry an additional <em>Model</em> in the filename: <code class="docutils literal notranslate"><span class="pre">VehicleModelsCatalog.xosc</span></code> and <code class="docutils literal notranslate"><span class="pre">PedestrianModelsCatalog.xosc</span></code></p>
+</div>
+</li>
+</ul>
+</li>
+<li><p><strong>SimulationConfig</strong> (<code class="docutils literal notranslate"><span class="pre">simulationConfig.xml</span></code>)</p>
+<p>This is the entry point for the simulation, containing the setup of the core, such as active observers, reference to the scenario, the initial random seed, and the number or invocations.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This file is normally of limited interest.
+Yet, some variations, such as <em>environmental conditions</em> are historically placed in here and not in the scenario description.
+It is therefore recommended to study the contents of this file.</p>
+</div>
+</li>
+<li><p><strong>SystemConfigBlueprint</strong> (<code class="docutils literal notranslate"><span class="pre">systemConfigBlueprint.xml</span></code>)</p>
+<p>This file is contains a superset of all possible <em>components</em> and their valid connections.
+Such components can be lateral and longitudinal controllers, assistance systems, prioritizers, driver models, and so on.
+Depending on the configured profiles and their probabilities, the core picks a subset of components to create one complete <em>system</em>.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>This file should not be changed without the proper (developer) expertise.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Instead of using an overall blueprint, concrete (static) systems can be specified using the same format.
+These files are simply referred to as <code class="docutils literal notranslate"><span class="pre">SystemConfig</span></code> files.</p>
+</div>
+</li>
+</ul>
+<p>Some components need their own input files (e.g. a configuration).
+It is convention to put these files also into the <code class="docutils literal notranslate"><span class="pre">configs</span></code> folder, which is internally provided as path to the components.
+This helps to keep experiments separated.</p>
+</div>
+<div class="section" id="outputs">
+<h3>Outputs<a class="headerlink" href="#outputs" title="Permalink to this headline">¶</a></h3>
+<p>Outputs are generated by individual observers, configured by the <strong>SimulationConfig</strong>, and collected within the folder <cite>results</cite>.
+This section describes the output files by the <a class="reference internal" href="outputs/observation_log.html#observation-log"><span class="std std-ref">Observation_Log</span></a>, as configured by the provided example configurations.</p>
+<p>Please refer to the documentation of the individual observers and files for more details.</p>
+<ul>
+<li><p><strong>Simulation Output</strong> (<code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>)</p>
+<p>This file acts as central entry point for further evaluation, such as the visualization.
+It contains central information about all executed invocations within an experiment, such as the executed scenario and the run results, which can be seen as current values from the random sampling of the given probabilities.
+As such, each run result contains, a list of participating moving entities (also referred to as agents), events related to the entities, such as collisions or activation of ADAS’s, and a reference to the <em>cyclics file</em>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This file <strong>does not</strong> contain information about the actual position of agents.</p>
+</div>
+</li>
+<li><p><strong>Cyclic Output</strong> (<code class="docutils literal notranslate"><span class="pre">Cyclics_Run_###.csv</span></code>)</p>
+<p>This file contains the ground truth information for each agent at each time step.
+For each invocation, a new file is generated (starting with <code class="docutils literal notranslate"><span class="pre">Cyclics_Run_000.csv</span></code> and referenced in the according run results in the <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This file <strong>does not</strong> contain information about the interaction between agents.</p>
+</div>
+</li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The core generates a file called <code class="docutils literal notranslate"><span class="pre">opSimulation.log</span></code> at the execution path, which logs errors and warnings.
+If the simulation behaves strange or did not produce any output, check this file.</p>
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- <div class="section" id="simulation-user-guide">
-<h1>Simulation User Guide<a class="headerlink" href="#simulation-user-guide" title="Permalink to this headline">¶</a></h1>
-<div class="admonition-before-we-start admonition">
-<p class="admonition-title">Before we start…</p>
-<p>The official Working Group website of <strong>openPASS</strong> (Open Source) (<a class="reference external" href="https://openpass.eclipse.org/">https://openpass.eclipse.org/</a>) offers a lot of information, well suited for beginners.</p>
-</div>
-<p><strong>OpenPASS</strong> is a tool for executing a traffic based Monte-Carlo simulation and provides capabilities for the following two levels of variation:</p>
-<ol class="arabic simple">
-<li><p><strong>Experiment:</strong> Topmost, an experiment defines the domains of possible inputs, which shall be compared, such as <em>“traffic at high volume”</em> with <em>“traffic at low volume”</em>.
-In this sense, a parameter variation is done at a very coarse level, resulting in two sets of inputs.
-Note that this level is covered by the GUI (see <a class="reference internal" href="10_gui_user_guide.html#gui-user-guide"><span class="std std-ref">GUI User Guide</span></a>).</p></li>
-<li><p><strong>Invocation:</strong> When an input-set is available, <strong>openPASS</strong> invokes a defined number of runs, resulting in a probabilistic sampling of the given state under parameterizable conditions.
-For example, in the aforementioned situation <em>“traffic at high volume”</em>, it would generate participants at <em>“lower speeds”</em> and <em>“smaller gaps”</em>.
-Thereby parameterizable means, that the user has the freedom to define probabilities defining <em>“lower speed”</em> and <em>“smaller gaps”</em>.
-In each invocation, <strong>openPASS</strong> samples from these probabilities to generate a possible traffic situation under the given parameter variation.</p></li>
-</ol>
-<p>This guide primarily covers the aspect of the second tier, describing the parts an input-set and the expected output.</p>
-<div class="section" id="intended-audience">
-<h2>Intended Audience<a class="headerlink" href="#intended-audience" title="Permalink to this headline">¶</a></h2>
-<p>This manual serves as an entry point for users who have an operational simulator at hand (see <a class="reference internal" href="../installation_guide/20_sim_installation_guide.html#sim-install-guide"><span class="std std-ref">Simulation Installation Guide</span></a>) and want to carry out (first) experiments at the invocation level (<em>GUI-less mode</em>).
-In this sense, it primarily tackles how input-sets are composed, their interdependencies and, finally, the generated outputs.</p>
-<img alt="|op| Workflow" src="../_images/workflow.png" />
-<p>This image shows the <em>GUI-less</em> workflow, starting with the input-set, bundled together in a folder typically named <code class="docutils literal notranslate"><span class="pre">configs</span></code>.
-The <code class="docutils literal notranslate"><span class="pre">core</span></code>, executed manually by the experimenter, processes these configs and generates an (configurable) output-set typically placed in a folder named <code class="docutils literal notranslate"><span class="pre">results</span></code>.
-Thereby, the <strong>Simulation Output</strong> is again a set of files.</p>
-</div>
-<div class="section" id="primer">
-<h2>Primer<a class="headerlink" href="#primer" title="Permalink to this headline">¶</a></h2>
-<p>In the following the input and output sets are described with respect to the intended audience.
-For detailed information please refer to the “in-depth” documentation of the individual files.</p>
-<div class="section" id="inputs">
-<h3>Inputs<a class="headerlink" href="#inputs" title="Permalink to this headline">¶</a></h3>
-<p>The input is focused around the following files, with decreasing importance for the current audience.</p>
-<ul>
-<li><p><strong>Scenario</strong></p>
-<p>This file describes the overall situation in terms of the <strong>ASAM OpenSCENARIO 1.0</strong> standard.
-This includes placement of cars, the story (what happens when), how long the simulation will run.</p>
-<p>On top it contains links to additionally needed files, where the following might need modification with respect to the current audience:</p>
-<ul>
-<li><p><strong>Scenery</strong> (<code class="docutils literal notranslate"><span class="pre">*.xosc</span></code>)</p>
-<p>The <strong>scenery</strong> file, which follows the <strong>ASAM OpenDRIVE 1.6</strong> standard, describes the world in which the experiment runs, such as a highway, or a parking lot.
-As such, it contains the description of the road network and any static object, such as traffic signs or obstacles.</p>
-</li>
-<li><p><strong>ProfilesCatalog</strong> (<code class="docutils literal notranslate"><span class="pre">*.xml</span></code>)</p></li>
-</ul>
-<blockquote>
-<div><p>This catalog describes the profiles of moving participants and are the probabilistic heart of the simulation.
-A profile could be a <strong>MiddleClassCar</strong>, and describes which components could be available with what probability.
-Such components could be ADAS’s or sensors and as such, their parametrization is also found here.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>As <strong>OpenSCENARIO</strong> does not support probabilities (yet), this file is not conform to the standard.</p>
-</div>
-</div></blockquote>
-<ul>
-<li><p><strong>VehiclesCatalog</strong> and <strong>PedestriansCatalog</strong>: (<code class="docutils literal notranslate"><span class="pre">*.xosc</span></code>)</p>
-<p>These catalogs, also based on <strong>OpenSCENARIO</strong>, describes the physical parameters of available vehicles or pedestrians, respectively.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Historically, the referenced files have carry an additional <em>Model</em> in the filename: <code class="docutils literal notranslate"><span class="pre">VehicleModelsCatalog.xosc</span></code> and <code class="docutils literal notranslate"><span class="pre">PedestrianModelsCatalog.xosc</span></code></p>
-</div>
-</li>
-</ul>
-</li>
-<li><p><strong>SlaveConfig</strong> (<code class="docutils literal notranslate"><span class="pre">slaveConfig.xml</span></code>)</p>
-<p>This is the entry point for the simulation, containing the setup of the core, such as active observers, reference to the scenario, the initial random seed, and the number or invocations.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>This file is normally of limited interest.
-Yet, some variations, such as <em>environmental conditions</em> are historically placed in here and not in the scenario description.
-It is therefore recommended to study the contents of this file.</p>
-</div>
-</li>
-<li><p><strong>SystemConfigBlueprint</strong> (<code class="docutils literal notranslate"><span class="pre">systemConfigBlueprint.xml</span></code>)</p>
-<p>This file is contains a superset of all possible <em>components</em> and their valid connections.
-Such components can be lateral and longitudinal controllers, assistance systems, prioritizers, driver models, and so on.
-Depending on the configured profiles and their probabilities, the core picks a subset of components to create one complete <em>system</em>.</p>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>This file should not be changed without the proper (developer) expertise.</p>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Instead of using an overall blueprint, concrete (static) systems can be specified using the same format.
-These files are simply referred to as <code class="docutils literal notranslate"><span class="pre">SystemConfig</span></code> files.</p>
-</div>
-</li>
-</ul>
-<p>Some components need their own input files (e.g. a configuration).
-It is convention to put these files also into the <code class="docutils literal notranslate"><span class="pre">configs</span></code> folder, which is internally provided as path to the components.
-This helps to keep experiments separated.</p>
-</div>
-<div class="section" id="outputs">
-<h3>Outputs<a class="headerlink" href="#outputs" title="Permalink to this headline">¶</a></h3>
-<p>Outputs are generated by individual observers, configured by the <strong>SlaveConfig</strong>, and collected within the folder <cite>results</cite>.
-This section describes the output files by the <a class="reference internal" href="sim_user_guide/output/observation_log.html#observation-log"><span class="std std-ref">Observation_Log</span></a>, as configured by the provided example configurations.</p>
-<p>Please refer to the documentation of the individual observers and files for more details.</p>
-<ul>
-<li><p><strong>Simulation Output</strong> (<code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>)</p>
-<p>This file acts as central entry point for further evaluation, such as the visualization.
-It contains central information about all executed invocations within an experiment, such as the executed scenario and the run results, which can be seen as current values from the random sampling of the given probabilities.
-As such, each run result contains, a list of participating moving entities (also referred to as agents), events related to the entities, such as collisions or activation of ADAS’s, and a reference to the <em>cyclics file</em>.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>This file <strong>does not</strong> contain information about the actual position of agents.</p>
-</div>
-</li>
-<li><p><strong>Cyclic Output</strong> (<code class="docutils literal notranslate"><span class="pre">Cyclics_Run_###.csv</span></code>)</p>
-<p>This file contains the ground truth information for each agent at each time step.
-For each invocation, a new file is generated (starting with <code class="docutils literal notranslate"><span class="pre">Cyclics_Run_000.csv</span></code> and referenced in the according run results in the <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>This file <strong>does not</strong> contain information about the interaction between agents.</p>
-</div>
-</li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The core generates a file called <code class="docutils literal notranslate"><span class="pre">LogSlave.txt</span></code> at the execution path, which logs errors and warnings.
-If the simulation behaves strange or did not produce any output, check this file.</p>
-</div>
-</div>
-<div class="section" id="component-view">
-<h3>Component View<a class="headerlink" href="#component-view" title="Permalink to this headline">¶</a></h3>
-<p><strong>OpenPASS</strong> is divided into components, which can be roughly divided into <strong>core components</strong> and <strong>model components</strong>.
-The most interesting core components are the individual <strong>spawners</strong>, which are responsible for populating the world in a realistic fashion.
-Model components are again roughly divided into <strong>drivers</strong> and <strong>vehicle components</strong> and represent how an individual participant is composed.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>There are several additional components acting in the background, making sure things work as they should.
-As a guideline, components parameterized through the <strong>ProfilesCatalog</strong> are scope of this guide, others not.</p>
-</div>
-<div class="admonition-todo admonition" id="id1">
-<p class="admonition-title">Todo</p>
-<p>Move Inputs, Outputs, and Components to their own master section</p>
-</div>
-</div>
-</div>
-<div class="section" id="inputs-in-depth">
-<h2>Inputs in Depth<a class="headerlink" href="#inputs-in-depth" title="Permalink to this headline">¶</a></h2>
-<p>As described in the primer above, not all inputs might be of interest for the targeted audience.
-Yet, for completeness, all potential input files shall be described here in detail.</p>
-<div class="toctree-wrapper compound">
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/input/profilescatalog.html">ProfilesCatalog</a></li>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/input/scenario.html">Scenario</a></li>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/input/scenery.html">Scenery</a></li>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/input/slaveconfig.html">SlaveConfig</a></li>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/input/staticsystemconfig.html">Static SystemConfig</a></li>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/input/systemconfigblueprint.html">SystemConfigBlueprint</a></li>
-</ul>
-</div>
-</div>
-<div class="section" id="outputs-in-depth">
-<h2>Outputs in Depth<a class="headerlink" href="#outputs-in-depth" title="Permalink to this headline">¶</a></h2>
-<p>As described in the primer above, simulation outputs are generated by the corresponding observers.
-In the following, all potential outputs are described, grouped by the corresponding observers.</p>
-<div class="toctree-wrapper compound">
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/output/observation_log.html">Observation_Log</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/output/observation_log.html#paramerization">Paramerization</a></li>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/output/observation_log.html#output-files">Output Files</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="sim_user_guide/output/observation_log.html#simulationoutput">SimulationOutput</a></li>
-<li class="toctree-l3"><a class="reference internal" href="sim_user_guide/output/observation_log.html#cyclics-run">Cyclics_Run_###</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/output/observation_repository.html">Observation_EntityRepository</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/output/observation_repository.html#parametrization">Parametrization</a></li>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/output/observation_repository.html#output-files">Output Files</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="sim_user_guide/output/observation_repository.html#repository-run-csv">Repository_Run_###.csv</a></li>
-<li class="toctree-l3"><a class="reference internal" href="sim_user_guide/output/observation_repository.html#repository-persistent-csv">Repository_Persistent.csv</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</div>
-</div>
-<div class="section" id="components-in-depth">
-<span id="simuserguide-components"></span><h2>Components in Depth<a class="headerlink" href="#components-in-depth" title="Permalink to this headline">¶</a></h2>
-<p>In the following, all available components are described.</p>
-<div class="toctree-wrapper compound">
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/components/driver.html">Driver</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/components/driver.html#algorithmagentfollowingdrivermodel">AlgorithmAgentFollowingDriverModel</a></li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/components/spawner.html">Spawner</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/components/spawner.html#scenariospawner">ScenarioSpawner</a></li>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/components/spawner.html#prerunspawner">PreRunSpawner</a></li>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/components/spawner.html#runtimespawner">RuntimeSpawner</a></li>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/components/spawner.html#trafficgroups">TrafficGroups</a></li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/components/vehicle.html">VehicleComponents</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/components/vehicle.html#aeb">AEB</a></li>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/components/vehicle.html#dynamicstrajectoryfollower">DynamicsTrajectoryFollower</a></li>
-<li class="toctree-l2"><a class="reference internal" href="sim_user_guide/components/vehicle.html#sensorgeometric2d">SensorGeometric2D</a></li>
-</ul>
-</li>
-</ul>
-</div>
-</div>
-<div class="section" id="use-cases-examples">
-<h2>Use Cases Examples<a class="headerlink" href="#use-cases-examples" title="Permalink to this headline">¶</a></h2>
-<div class="toctree-wrapper compound">
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="sim_user_guide/examples/basic.html">Basic Example</a></li>
-</ul>
-</div>
-</div>
-</div>
-
-
- </div>
-
- </div>
- <footer>
- <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
- <a href="sim_user_guide/input/profilescatalog.html" class="btn btn-neutral float-right" title="ProfilesCatalog" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
- <a href="10_gui_user_guide.html" class="btn btn-neutral float-left" title="GUI User Guide" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
- </div>
-
- <hr/>
-
- <div role="contentinfo">
- <p>
- © Copyright 2021 OpenPASS Working Group.
-
- </p>
- </div>
-
-
-
- Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
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- <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
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- });
- </script>
-
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-</body>
-</html>
\ No newline at end of file
diff --git a/content/html/user_guide/20_tutorials.html b/content/html/user_guide/20_tutorials.html
new file mode 100644
index 0000000..20515bd
--- /dev/null
+++ b/content/html/user_guide/20_tutorials.html
@@ -0,0 +1,259 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+ <meta charset="utf-8" />
+
+ <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+
+ <title>Tutorials — OpenPASS Documentation</title>
+
+
+
+ <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+ <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+ <link rel="stylesheet" href="../_static/tabs.css" type="text/css" />
+ <link rel="stylesheet" href="../_static/css/custom.css" type="text/css" />
+
+
+
+ <link rel="shortcut icon" href="../_static/openPASS.ico"/>
+
+
+
+
+
+
+
+
+ <!--[if lt IE 9]>
+ <script src="../_static/js/html5shiv.min.js"></script>
+ <![endif]-->
+
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+ <script type="text/javascript" id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
+ <script src="../_static/jquery.js"></script>
+ <script src="../_static/underscore.js"></script>
+ <script src="../_static/doctools.js"></script>
+
+ <script type="text/javascript" src="../_static/js/theme.js"></script>
+
+
+ <link rel="index" title="Index" href="../genindex.html" />
+ <link rel="search" title="Search" href="../search.html" />
+ <link rel="next" title="Scenario-based simulation" href="tutorials/10_scenario_simulation.html" />
+ <link rel="prev" title="Overview" href="10_overview.html" />
+</head>
+
+<body class="wy-body-for-nav">
+
+
+ <div class="wy-grid-for-nav">
+
+ <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+ <div class="wy-side-scroll">
+ <div class="wy-side-nav-search" >
+
+
+
+ <a href="../index.html" class="icon icon-home"> openPASS
+
+
+
+
+ <img src="../_static/openPASS.png" class="logo" alt="Logo"/>
+
+ </a>
+
+
+
+
+ <div class="version">
+ 0.8.0
+ </div>
+
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+
+
+<div role="search">
+ <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
+ <input type="text" name="q" placeholder="Search docs" />
+ <input type="hidden" name="check_keywords" value="yes" />
+ <input type="hidden" name="area" value="default" />
+ </form>
+</div>
+
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+ </div>
+
+
+ <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+
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+
+
+ <p class="caption"><span class="caption-text">Installation Guide</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/10_getting_started.html">Getting Started</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing OpenPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption"><span class="caption-text">User Guides</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="10_overview.html">Overview</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Tutorials</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="tutorials/10_scenario_simulation.html">Scenario-based simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="tutorials/20_pcm_simulation.html">PCM Simulation</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="30_gui_plugins.html">GUI Plugins</a></li>
+<li class="toctree-l1"><a class="reference internal" href="40_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="60_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/20_documentation.html">Documentation Concept</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/30_license.html">License</a></li>
+</ul>
+
+
+
+ </div>
+
+ </div>
+ </nav>
+
+ <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
+
+
+ <nav class="wy-nav-top" aria-label="top navigation">
+
+ <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+ <a href="../index.html">openPASS</a>
+
+ </nav>
+
+
+ <div class="wy-nav-content">
+
+ <div class="rst-content">
+
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+
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+<div role="navigation" aria-label="breadcrumbs navigation">
+
+ <ul class="wy-breadcrumbs">
+
+ <li><a href="../index.html" class="icon icon-home"></a> »</li>
+
+ <li>Tutorials</li>
+
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+ <li class="wy-breadcrumbs-aside">
+
+
+ <a href="../_sources/user_guide/20_tutorials.rst.txt" rel="nofollow"> View page source</a>
+
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+ </li>
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+ </ul>
+
+
+ <hr/>
+</div>
+ <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+ <div itemprop="articleBody">
+
+ <div class="section" id="tutorials">
+<span id="id1"></span><h1>Tutorials<a class="headerlink" href="#tutorials" title="Permalink to this headline">¶</a></h1>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="tutorials/10_scenario_simulation.html">Scenario-based simulation</a></li>
+<li class="toctree-l1"><a class="reference internal" href="tutorials/20_pcm_simulation.html">PCM Simulation</a></li>
+</ul>
+</div>
+</div>
+
+
+ </div>
+
+ </div>
+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+ <a href="tutorials/10_scenario_simulation.html" class="btn btn-neutral float-right" title="Scenario-based simulation" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+ <a href="10_overview.html" class="btn btn-neutral float-left" title="Overview" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+ </div>
+
+ <hr/>
+
+ <div role="contentinfo">
+ <p>
+ © Copyright 2021 OpenPASS Working Group.
+
+ </p>
+ </div>
+
+
+
+ Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+
+ <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+
+ provided by <a href="https://readthedocs.org">Read the Docs</a>.
+
+</footer>
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+
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+
+
+ <script type="text/javascript">
+ jQuery(function () {
+ SphinxRtdTheme.Navigation.enable(true);
+ });
+ </script>
+
+
+
+
+
+
+</body>
+</html>
\ No newline at end of file
diff --git a/content/html/user_guide/30_gui_plugins.html b/content/html/user_guide/30_gui_plugins.html
new file mode 100644
index 0000000..cc2b48d
--- /dev/null
+++ b/content/html/user_guide/30_gui_plugins.html
@@ -0,0 +1,272 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+ <meta charset="utf-8" />
+
+ <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+
+ <title>GUI Plugins — OpenPASS Documentation</title>
+
+
+
+ <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+ <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+ <link rel="stylesheet" href="../_static/tabs.css" type="text/css" />
+ <link rel="stylesheet" href="../_static/css/custom.css" type="text/css" />
+
+
+
+ <link rel="shortcut icon" href="../_static/openPASS.ico"/>
+
+
+
+
+
+
+
+
+ <!--[if lt IE 9]>
+ <script src="../_static/js/html5shiv.min.js"></script>
+ <![endif]-->
+
+
+ <script type="text/javascript" id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
+ <script src="../_static/jquery.js"></script>
+ <script src="../_static/underscore.js"></script>
+ <script src="../_static/doctools.js"></script>
+
+ <script type="text/javascript" src="../_static/js/theme.js"></script>
+
+
+ <link rel="index" title="Index" href="../genindex.html" />
+ <link rel="search" title="Search" href="../search.html" />
+ <link rel="next" title="Project" href="gui_user_guide/10_projects.html" />
+ <link rel="prev" title="PCM Simulation" href="tutorials/20_pcm_simulation.html" />
+</head>
+
+<body class="wy-body-for-nav">
+
+
+ <div class="wy-grid-for-nav">
+
+ <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+ <div class="wy-side-scroll">
+ <div class="wy-side-nav-search" >
+
+
+
+ <a href="../index.html" class="icon icon-home"> openPASS
+
+
+
+
+ <img src="../_static/openPASS.png" class="logo" alt="Logo"/>
+
+ </a>
+
+
+
+
+ <div class="version">
+ 0.8.0
+ </div>
+
+
+
+
+<div role="search">
+ <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
+ <input type="text" name="q" placeholder="Search docs" />
+ <input type="hidden" name="check_keywords" value="yes" />
+ <input type="hidden" name="area" value="default" />
+ </form>
+</div>
+
+
+ </div>
+
+
+ <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+
+
+
+
+
+
+ <p class="caption"><span class="caption-text">Installation Guide</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/10_getting_started.html">Getting Started</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing OpenPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/60_conan.html">Building with Conan</a></li>
+</ul>
+<p class="caption"><span class="caption-text">User Guides</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="10_overview.html">Overview</a></li>
+<li class="toctree-l1"><a class="reference internal" href="20_tutorials.html">Tutorials</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">GUI Plugins</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="gui_user_guide/10_projects.html">Project</a></li>
+<li class="toctree-l2"><a class="reference internal" href="gui_user_guide/20_system_editor.html">System Editor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="gui_user_guide/30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="gui_user_guide/40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="gui_user_guide/50_result_visualization.html">Result Visualization</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="40_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="60_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Developer Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/10_ide_support.html">IDE Support</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../developer_information/20_documentation.html">Documentation Concept</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/10_external_dependencies.html">External Dependencies</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/20_glossary.html">Glossary</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../other_information/30_license.html">License</a></li>
+</ul>
+
+
+
+ </div>
+
+ </div>
+ </nav>
+
+ <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
+
+
+ <nav class="wy-nav-top" aria-label="top navigation">
+
+ <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+ <a href="../index.html">openPASS</a>
+
+ </nav>
+
+
+ <div class="wy-nav-content">
+
+ <div class="rst-content">
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+<div role="navigation" aria-label="breadcrumbs navigation">
+
+ <ul class="wy-breadcrumbs">
+
+ <li><a href="../index.html" class="icon icon-home"></a> »</li>
+
+ <li>GUI Plugins</li>
+
+
+ <li class="wy-breadcrumbs-aside">
+
+
+ <a href="../_sources/user_guide/30_gui_plugins.rst.txt" rel="nofollow"> View page source</a>
+
+
+ </li>
+
+ </ul>
+
+
+ <hr/>
+</div>
+ <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+ <div itemprop="articleBody">
+
+ <div class="section" id="gui-plugins">
+<span id="id1"></span><h1>GUI Plugins<a class="headerlink" href="#gui-plugins" title="Permalink to this headline">¶</a></h1>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="gui_user_guide/10_projects.html">Project</a></li>
+<li class="toctree-l1"><a class="reference internal" href="gui_user_guide/20_system_editor.html">System Editor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="gui_user_guide/30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l1"><a class="reference internal" href="gui_user_guide/40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l1"><a class="reference internal" href="gui_user_guide/50_result_visualization.html">Result Visualization</a></li>
+</ul>
+</div>
+<p>Additionally, the following plugins are currently work in progress:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>agentConfiguration</p></li>
+<li><p>trafficSimulation</p></li>
+</ul>
+</div></blockquote>
+</div>
+
+
+ </div>
+
+ </div>
+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+ <a href="gui_user_guide/10_projects.html" class="btn btn-neutral float-right" title="Project" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+ <a href="tutorials/20_pcm_simulation.html" class="btn btn-neutral float-left" title="PCM Simulation" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+ </div>
+
+ <hr/>
+
+ <div role="contentinfo">
+ <p>
+ © Copyright 2021 OpenPASS Working Group.
+
+ </p>
+ </div>
+
+
+
+ Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+
+ <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+
+ provided by <a href="https://readthedocs.org">Read the Docs</a>.
+
+</footer>
+ </div>
+ </div>
+
+ </section>
+
+ </div>
+
+
+ <script type="text/javascript">
+ jQuery(function () {
+ SphinxRtdTheme.Navigation.enable(true);
+ });
+ </script>
+
+
+
+
+
+
+</body>
+</html>
\ No newline at end of file
diff --git a/content/html/user_guide/40_configs_in_depth.html b/content/html/user_guide/40_configs_in_depth.html
new file mode 100644
index 0000000..ae649ee
--- /dev/null
+++ b/content/html/user_guide/40_configs_in_depth.html
@@ -0,0 +1,269 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
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+ <div class="section" id="configs-in-depth">
+<span id="id1"></span><h1>Configs in Depth<a class="headerlink" href="#configs-in-depth" title="Permalink to this headline">¶</a></h1>
+<p>As described in the <a class="reference internal" href="10_overview.html#primer"><span class="std std-ref">Primer</span></a>, not all inputs might be of interest for the targeted audience.
+Yet, for completeness, all potential input files shall be described here in detail.</p>
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diff --git a/content/html/user_guide/50_outputs_in_depth.html b/content/html/user_guide/50_outputs_in_depth.html
new file mode 100644
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+ <div class="section" id="outputs-in-depth">
+<span id="id1"></span><h1>Outputs in Depth<a class="headerlink" href="#outputs-in-depth" title="Permalink to this headline">¶</a></h1>
+<p>As described in the <a class="reference internal" href="10_overview.html#primer"><span class="std std-ref">Primer</span></a>, simulation outputs are generated by the corresponding observers.
+In the following, all potential outputs are described, grouped by the corresponding observers.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="outputs/observation_log.html">Observation_Log</a></li>
+<li class="toctree-l1"><a class="reference internal" href="outputs/observation_repository.html">Observation_EntityRepository</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/30_install_openpass.html">Installing OpenPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../installation_guide/60_conan.html">Building with Conan</a></li>
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diff --git a/content/html/user_guide/sim_user_guide/input/profilescatalog.html b/content/html/user_guide/configs/profilescatalog.html
similarity index 68%
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-<span id="id1"></span><h1>ProfilesCatalog<a class="headerlink" href="#profilescatalog" title="Permalink to this headline">¶</a></h1>
-<p>The ProfilesCatalog contains all AgentProfiles, VehicleProfiles and generic ProfileGroups and Profiles.
-Depending on the configuration the simulator could require a “Driver”-ProfileGroup, a “Spawner”- and “TrafficGroup”-ProfileGroup, or sensor and vehiclecomponent specific ProfileGroups.</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#profilescatalog-agentprofiles"><span class="std std-ref">AgentProfiles</span></a></p></li>
-<li><p><a class="reference internal" href="#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a></p></li>
-<li><p><a class="reference internal" href="#profilescatalog-profilegroups"><span class="std std-ref">ProfileGroups</span></a></p></li>
-<li><p><a class="reference internal" href="#profilescatalog-driverprofiles"><span class="std std-ref">Driver ProfileGroup</span></a></p></li>
-<li><p><a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a></p></li>
-<li><p><a class="reference internal" href="#profilescatalog-spawnerprofiles"><span class="std std-ref">SpawnerProfile ProfileGroup</span></a></p></li>
-</ul>
-<div class="section" id="agentprofiles">
-<span id="profilescatalog-agentprofiles"></span><h2>AgentProfiles<a class="headerlink" href="#agentprofiles" title="Permalink to this headline">¶</a></h2>
-<p>In this section all AgentProfiles are defined.
-An AgentProfile is either static or dynamic.
-A static AgentProfile consists of a SystemConfig and a VehicleModel.
-A dynamic AgentProfile specifies the composition of the agent according to certain probabilities.
-Here the initial driver and the vehicle profile of an agent get specified.
-At least one AgentProfile is required.
-But every AgentProfile referenced in the used <a class="reference internal" href="scenario.html#scenario"><span class="std std-ref">Scenario</span></a> file or <a class="reference internal" href="../components/spawner.html#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> must exist.
-All probabilities must add up to 1.0.</p>
-<p>Composition of a static AgentProfile:</p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 17%" />
-<col style="width: 72%" />
-<col style="width: 11%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Required</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>System</p></td>
-<td><p>Reference to a system defined in a SystemConfig</p></td>
-<td><p>Yes</p></td>
-</tr>
-<tr class="row-odd"><td><p>VehicleModel</p></td>
-<td><p>Name of the VehicleModel in the <a class="reference internal" href="scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a></p></td>
-<td><p>Yes</p></td>
-</tr>
-</tbody>
-</table>
-<p>Composition of a dynamic AgentProfile:</p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 14%" />
-<col style="width: 69%" />
-<col style="width: 17%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Required</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>DriverProfiles</p></td>
-<td><p>List of <a class="reference internal" href="#profilescatalog-driverprofiles"><span class="std std-ref">Driver ProfileGroup</span></a> for random selection</p></td>
-<td><p>At least one entry</p></td>
-</tr>
-<tr class="row-odd"><td><p>VehicleProfiles</p></td>
-<td><p>List of <a class="reference internal" href="#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a> for random selection</p></td>
-<td><p>At least one entry</p></td>
-</tr>
-</tbody>
-</table>
-<div class="section" id="example">
-<h3>Example<a class="headerlink" href="#example" title="Permalink to this headline">¶</a></h3>
-<p>In this experiment the ego agent is defined by the system with Id 0 in systemConfig.xml and the VehicleModel car_bmw_7.
-Every LuxuryClassCarAgent has the driver profile “AgentFollowingDriver”.
-Regarding the vehicle profile 50% have a MINI Cooper and the other 50% drive a BMW 7.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><AgentProfiles></span>
- <span class="nt"><AgentProfile</span> <span class="na">Name=</span><span class="s">"EgoAgent"</span> <span class="na">Type=</span><span class="s">"Static"</span><span class="nt">></span>
- <span class="nt"><System></span>
- <span class="nt"><File></span>systemConfig.xml<span class="nt"></File></span>
- <span class="nt"><Id></span>0<span class="nt"></Id></span>
- <span class="nt"></System></span>
- <span class="nt"><VehicleModel></span>car_bmw_7<span class="nt"></VehicleModel></span>
- <span class="nt"></AgentProfile></span>
- <span class="nt"><AgentProfile</span> <span class="na">Name=</span><span class="s">"LuxuryClassCarAgent"</span> <span class="na">Type=</span><span class="s">"Dynamic"</span><span class="nt">></span>
- <span class="nt"><DriverProfiles></span>
- <span class="nt"><DriverProfile</span> <span class="na">Name=</span><span class="s">"AgentFollowingDriver"</span> <span class="na">Probability=</span><span class="s">"1.0"</span><span class="nt">/></span>
- <span class="nt"></DriverProfiles></span>
- <span class="nt"><VehicleProfiles></span>
- <span class="nt"><VehicleProfile</span> <span class="na">Name=</span><span class="s">"MINI Cooper"</span> <span class="na">Probability=</span><span class="s">"0.5"</span><span class="nt">/></span>
- <span class="nt"><VehicleProfile</span> <span class="na">Name=</span><span class="s">"BMW 7"</span> <span class="na">Probability=</span><span class="s">"0.5"</span><span class="nt">/></span>
- <span class="nt"></VehicleProfiles></span>
- <span class="nt"></AgentProfile></span>
-<span class="nt"></AgentProfiles></span>
-</pre></div>
-</div>
-</div>
-</div>
-<div class="section" id="vehicleprofiles">
-<span id="profilescatalog-vehicleprofiles"></span><h2>VehicleProfiles<a class="headerlink" href="#vehicleprofiles" title="Permalink to this headline">¶</a></h2>
-<p>This sections contains all vehicle profiles.
-Every VehicleProfile used by <a class="reference internal" href="#profilescatalog-agentprofiles"><span class="std std-ref">AgentProfiles</span></a> must be listed here.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><VehicleProfiles></span>
- <span class="nt"><VehicleProfile</span> <span class="na">Name=</span><span class="s">"BMW 7"</span><span class="nt">></span>
- <span class="nt"><Model</span> <span class="na">Name=</span><span class="s">"car_bmw_7"</span><span class="nt">/></span>
- <span class="nt"><Components></span>
- <span class="nt"><Component</span> <span class="na">Type=</span><span class="s">"AEB"</span><span class="nt">></span>
- <span class="nt"><Profiles></span>
- <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"AebProfile"</span> <span class="na">Probability=</span><span class="s">"0.5"</span><span class="nt">/></span>
- <span class="nt"></Profiles></span>
- <span class="nt"><SensorLinks></span>
- <span class="nt"><SensorLink</span> <span class="na">SensorId=</span><span class="s">"0"</span> <span class="na">InputId=</span><span class="s">"Camera"</span><span class="nt">/></span>
- <span class="nt"></SensorLinks></span>
- <span class="nt"></Component></span>
- <span class="nt"></Components></span>
- <span class="nt"><Sensors></span>
- <span class="nt"><Sensor</span> <span class="na">Id=</span><span class="s">"0"</span><span class="nt">></span>
- <span class="nt"><Position</span> <span class="na">Name=</span><span class="s">"Default"</span> <span class="na">Longitudinal=</span><span class="s">"0.0"</span> <span class="na">Lateral=</span><span class="s">"0.0"</span> <span class="na">Height=</span><span class="s">"0.5"</span> <span class="na">Pitch=</span><span class="s">"0.0"</span> <span class="na">Yaw=</span><span class="s">"0.0"</span> <span class="na">Roll=</span><span class="s">"0.0"</span><span class="nt">/></span>
- <span class="nt"><Profile</span> <span class="na">Type=</span><span class="s">"Geometric2D"</span> <span class="na">Name=</span><span class="s">"Standard"</span><span class="nt">/></span>
- <span class="nt"></Sensor></span>
- <span class="nt"></Sensors></span>
- <span class="nt"></VehicleProfile></span>
- ...
-<span class="nt"></VehicleProfiles></span>
-</pre></div>
-</div>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 19%" />
-<col style="width: 81%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Name</p></td>
-<td><p>Name of the vehicle profile</p></td>
-</tr>
-<tr class="row-odd"><td><p>Components</p></td>
-<td><p>Lists all ADAS and other components in the vehicle</p></td>
-</tr>
-<tr class="row-even"><td><p>Sensors</p></td>
-<td><p>Lists all sensors in the vehicle</p></td>
-</tr>
-</tbody>
-</table>
-<div class="section" id="components">
-<span id="profilescatalog-components"></span><h3>Components<a class="headerlink" href="#components" title="Permalink to this headline">¶</a></h3>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 12%" />
-<col style="width: 88%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Type</p></td>
-<td><p>Type of the component.</p>
-<p>Must match component name in SystemConfigBlueprint</p>
-</td>
-</tr>
-<tr class="row-odd"><td><p>Profile</p></td>
-<td><p>Possible profiles of the component with probabilities.</p>
-<p>The profiles are defined in the <a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a> section</p>
-<p>Probabilities do not need to add up to 1.</p>
-</td>
-</tr>
-<tr class="row-even"><td><p>SensorLinks</p></td>
-<td><p>Defines which sensor this component uses as input</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>The possibility of “not having that component” can be achieved if the probabilities of the profiles do not add up to 1.</p>
-</div>
-</div>
-<div class="section" id="sensors">
-<span id="profilescatalog-sensors"></span><h3>Sensors<a class="headerlink" href="#sensors" title="Permalink to this headline">¶</a></h3>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 12%" />
-<col style="width: 88%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Id</p></td>
-<td><p>Identifier for the sensor used by the SensorLink definition of the components</p></td>
-</tr>
-<tr class="row-odd"><td><p>Position</p></td>
-<td><p>Position of the sensor in the vehicle in relative coordinates</p></td>
-</tr>
-<tr class="row-even"><td><p>Profile</p></td>
-<td><p>All possible profiles of the sensor with probabilities.</p>
-<p>The profiles are defined in the <a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a> section</p>
-</td>
-</tr>
-</tbody>
-</table>
-</div>
-</div>
-<div class="section" id="profilegroups">
-<span id="profilescatalog-profilegroups"></span><h2>ProfileGroups<a class="headerlink" href="#profilegroups" title="Permalink to this headline">¶</a></h2>
-<p>A ProfileGroup defines all the possible profiles of a component.
-A single profile is a set of parameters that are passed to the component in the same way as the parameters in the SystemConfig.
-Note: For components that have their parameters defined in the ProfilesCatalog the parameters in the SystemConfigBlueprint are ignored.
-Parameters can either be simple or stochastic.
-Simple parameters only have one value, while stochastic parameters have a minimum and maximum value as well as distribution specific parameters.
-Which parameters are needed/supported depends on the component.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"ComponentName"</span><span class="nt">></span>
- <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"ExampleProfile"</span><span class="nt">></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"StringParameter"</span> <span class="na">Value=</span><span class="s">"Lorem ipsum"</span><span class="nt">/></span>
- <span class="nt"><DoubleVector</span> <span class="na">Key=</span><span class="s">"DoubleParameter"</span> <span class="na">Value=</span><span class="s">"12.3,4.56,78.9"</span><span class="nt">/></span>
- <span class="nt"><NormalDistribution</span> <span class="na">Key=</span><span class="s">"RandomParameter"</span> <span class="na">Mean=</span><span class="s">"4.5"</span> <span class="na">SD=</span><span class="s">"0.5"</span> <span class="na">Min=</span><span class="s">"3.5"</span> <span class="na">Max=</span><span class="s">"10.0"</span><span class="nt">/></span>
- <span class="nt"></Profile></span>
- <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"AnotherProfile"</span><span class="nt">></span>
- ...
- <span class="nt"></Profile></span>
-<span class="nt"></ProfileGroup></span>
-</pre></div>
-</div>
-<p>There are the following types of simple parameters:</p>
-<ul class="simple">
-<li><p>Bool</p></li>
-<li><p>Int</p></li>
-<li><p>Double</p></li>
-<li><p>String</p></li>
-<li><p>IntVector</p></li>
-<li><p>DoubleVector</p></li>
-<li><p>StringVector</p></li>
-</ul>
-<p>If a parameter is stochastic it can be defined as any to be drawn from any of the following distributions:</p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 33%" />
-<col style="width: 67%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Distribution</p></th>
-<th class="head"><p>Additional Attributes</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>NormalDistribution</p></td>
-<td><p>(Mean and SD) or (Mu and Sigma) - equivalent</p></td>
-</tr>
-<tr class="row-odd"><td><p>LogNormalDistribution</p></td>
-<td><p>(Mean and SD) or (Mu and Sigma) - not equivalent</p></td>
-</tr>
-<tr class="row-even"><td><p>UniformDistribution</p></td>
-<td><p>None</p></td>
-</tr>
-<tr class="row-odd"><td><p>ExponentialDistribution</p></td>
-<td><p>Lambda or Mean (Mean = 1 / Lambda)</p></td>
-</tr>
-<tr class="row-even"><td><p>GammaDistribution</p></td>
-<td><p>(Mean and SD) or (Shape and Scale)</p></td>
-</tr>
-</tbody>
-</table>
-<p>Additionally there is the list type.
-The list contains any number of list items which itself contain a list of parameters.
-Lists can be nested at most two times.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><List</span> <span class="na">Name=</span><span class="s">"ExampleList"</span><span class="nt">></span>
- <span class="nt"><ListItem></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"FirstParameter"</span> <span class="na">Value=</span><span class="s">"Lorem"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SecondParameter"</span> <span class="na">Value=</span><span class="s">"0.4"</span><span class="nt">/></span>
- <span class="nt"></ListItem></span>
- <span class="nt"><ListItem></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"FirstParameter"</span> <span class="na">Value=</span><span class="s">"ipsum"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SecondParameter"</span> <span class="na">Value=</span><span class="s">"0.6"</span><span class="nt">/></span>
- <span class="nt"></ListItem></span>
-<span class="nt"></List></span>
-</pre></div>
-</div>
-<p>A Profile can also reference another Profile in another ProfileGroup.
-In these case the importer handles the reference as if it was substituted by all subelements of the referenced Profile.
-References may not be nested.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Reference</span> <span class="na">Type=</span><span class="s">"GroupType"</span> <span class="na">Name=</span><span class="s">"ProfileName"</span><span class="nt">/></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="driver-profilegroup">
-<span id="profilescatalog-driverprofiles"></span><h2>Driver ProfileGroup<a class="headerlink" href="#driver-profilegroup" title="Permalink to this headline">¶</a></h2>
-<p>This section contains all driver profiles used by the simulation.
-At least one driver profile is required.
-The special parameter “Type” defines the name of the component (i.e. library name).
-For details on the indivual parameters see the <a class="reference internal" href="../components/driver.html#components-driver"><span class="std std-ref">components reference</span></a>.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"Driver"</span><span class="nt">></span>
- <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Name"</span><span class="nt">></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"Type"</span> <span class="na">Value=</span><span class="s">"DriverLibrary"</span><span class="nt">/></span>
- ...
- <span class="nt"></Profile></span>
- ...
-<span class="nt"></ProfileGroup></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="vehiclecomponent-profilegroups">
-<span id="profilescatalog-vehiclecomponentprofiles"></span><h2>VehicleComponent ProfileGroups<a class="headerlink" href="#vehiclecomponent-profilegroups" title="Permalink to this headline">¶</a></h2>
-<p>This sections contains all driver assistance systems and other vehicle components and their parameter sets.
-For every used VehicleComponent type there must be a ProfileGroup with this type and every profile of this type used by <a class="reference internal" href="#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a> must be listed here.
-For details on the indivual parameters see the <a class="reference internal" href="../components/vehicle.html#components-vehiclecomponents"><span class="std std-ref">components reference</span></a>.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"LibraryName"</span><span class="nt">></span>
- <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Name"</span><span class="nt">></span>
- ...
- <span class="nt"></Profile></span>
- ...
-<span class="nt"></ProfileGroup></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="spawnerprofile-profilegroup">
-<span id="profilescatalog-spawnerprofiles"></span><h2>SpawnerProfile ProfileGroup<a class="headerlink" href="#spawnerprofile-profilegroup" title="Permalink to this headline">¶</a></h2>
-<p>This sections contains all parameters of the spawners referenced in the <a class="reference internal" href="slaveconfig.html#slaveconfig"><span class="std std-ref">SlaveConfig</span></a>.
-For details on the indivual parameters see the <a class="reference internal" href="../components/spawner.html#components-spawner"><span class="std std-ref">components reference</span></a>.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"Spawner"</span><span class="nt">></span>
- <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Name"</span><span class="nt">></span>
- ...
- <span class="nt"></Profile></span>
- ...
-<span class="nt"></ProfileGroup></span>
-</pre></div>
-</div>
-</div>
-</div>
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+<li class="toctree-l3"><a class="reference internal" href="#profilegroups">ProfileGroups</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#driver-profilegroup">Driver ProfileGroup</a></li>
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+ <div class="section" id="profilescatalog">
+<span id="id1"></span><h1>ProfilesCatalog<a class="headerlink" href="#profilescatalog" title="Permalink to this headline">¶</a></h1>
+<p>The ProfilesCatalog contains all AgentProfiles, VehicleProfiles and generic ProfileGroups and Profiles.
+Depending on the configuration the simulator could require a “Driver”-ProfileGroup, a “Spawner”- and “TrafficGroup”-ProfileGroup, a “TrafficRules”-ProfileGroup or sensor and vehiclecomponent specific ProfileGroups.</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#profilescatalog-agentprofiles"><span class="std std-ref">AgentProfiles</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-profilegroups"><span class="std std-ref">ProfileGroups</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-driverprofiles"><span class="std std-ref">Driver ProfileGroup</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-spawnerprofiles"><span class="std std-ref">SpawnerProfile ProfileGroup</span></a></p></li>
+<li><p><a class="reference internal" href="#profilescatalog-trafficrulesprofiles"><span class="std std-ref">TrafficRules ProfileGroup</span></a></p></li>
+</ul>
+<div class="section" id="agentprofiles">
+<span id="profilescatalog-agentprofiles"></span><h2>AgentProfiles<a class="headerlink" href="#agentprofiles" title="Permalink to this headline">¶</a></h2>
+<p>In this section all AgentProfiles are defined.
+An AgentProfile is either static or dynamic.
+A static AgentProfile consists of a SystemConfig and a VehicleModel.
+A dynamic AgentProfile specifies the composition of the agent according to certain probabilities.
+Here the initial driver and the vehicle profile of an agent get specified.
+At least one AgentProfile is required.
+But every AgentProfile referenced in the used <a class="reference internal" href="scenario.html#scenario"><span class="std std-ref">Scenario</span></a> file or <a class="reference internal" href="../sim_user_guide/components/spawner.html#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> must exist.
+All probabilities must add up to 1.0.</p>
+<p>Composition of a static AgentProfile:</p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 17%" />
+<col style="width: 72%" />
+<col style="width: 11%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Required</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>System</p></td>
+<td><p>Reference to a system defined in a SystemConfig</p></td>
+<td><p>Yes</p></td>
+</tr>
+<tr class="row-odd"><td><p>VehicleModel</p></td>
+<td><p>Name of the VehicleModel in the <a class="reference internal" href="scenario.html#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a></p></td>
+<td><p>Yes</p></td>
+</tr>
+</tbody>
+</table>
+<p>Composition of a dynamic AgentProfile:</p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 14%" />
+<col style="width: 69%" />
+<col style="width: 17%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Required</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>DriverProfiles</p></td>
+<td><p>List of <a class="reference internal" href="#profilescatalog-driverprofiles"><span class="std std-ref">Driver ProfileGroup</span></a> for random selection</p></td>
+<td><p>At least one entry</p></td>
+</tr>
+<tr class="row-odd"><td><p>VehicleProfiles</p></td>
+<td><p>List of <a class="reference internal" href="#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a> for random selection</p></td>
+<td><p>At least one entry</p></td>
+</tr>
+</tbody>
+</table>
+<div class="section" id="example">
+<h3>Example<a class="headerlink" href="#example" title="Permalink to this headline">¶</a></h3>
+<p>In this experiment the ego agent is defined by the system with Id 0 in systemConfig.xml and the VehicleModel car_bmw_7.
+Every LuxuryClassCarAgent has the driver profile “AgentFollowingDriver”.
+Regarding the vehicle profile 50% have a MINI Cooper and the other 50% drive a BMW 7.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><AgentProfiles></span>
+ <span class="nt"><AgentProfile</span> <span class="na">Name=</span><span class="s">"EgoAgent"</span> <span class="na">Type=</span><span class="s">"Static"</span><span class="nt">></span>
+ <span class="nt"><System></span>
+ <span class="nt"><File></span>systemConfig.xml<span class="nt"></File></span>
+ <span class="nt"><Id></span>0<span class="nt"></Id></span>
+ <span class="nt"></System></span>
+ <span class="nt"><VehicleModel></span>car_bmw_7<span class="nt"></VehicleModel></span>
+ <span class="nt"></AgentProfile></span>
+ <span class="nt"><AgentProfile</span> <span class="na">Name=</span><span class="s">"LuxuryClassCarAgent"</span> <span class="na">Type=</span><span class="s">"Dynamic"</span><span class="nt">></span>
+ <span class="nt"><DriverProfiles></span>
+ <span class="nt"><DriverProfile</span> <span class="na">Name=</span><span class="s">"AgentFollowingDriver"</span> <span class="na">Probability=</span><span class="s">"1.0"</span><span class="nt">/></span>
+ <span class="nt"></DriverProfiles></span>
+ <span class="nt"><VehicleProfiles></span>
+ <span class="nt"><VehicleProfile</span> <span class="na">Name=</span><span class="s">"MINI Cooper"</span> <span class="na">Probability=</span><span class="s">"0.5"</span><span class="nt">/></span>
+ <span class="nt"><VehicleProfile</span> <span class="na">Name=</span><span class="s">"BMW 7"</span> <span class="na">Probability=</span><span class="s">"0.5"</span><span class="nt">/></span>
+ <span class="nt"></VehicleProfiles></span>
+ <span class="nt"></AgentProfile></span>
+<span class="nt"></AgentProfiles></span>
+</pre></div>
+</div>
+</div>
+</div>
+<div class="section" id="vehicleprofiles">
+<span id="profilescatalog-vehicleprofiles"></span><h2>VehicleProfiles<a class="headerlink" href="#vehicleprofiles" title="Permalink to this headline">¶</a></h2>
+<p>This sections contains all vehicle profiles.
+Every VehicleProfile used by <a class="reference internal" href="#profilescatalog-agentprofiles"><span class="std std-ref">AgentProfiles</span></a> must be listed here.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><VehicleProfiles></span>
+ <span class="nt"><VehicleProfile</span> <span class="na">Name=</span><span class="s">"BMW 7"</span><span class="nt">></span>
+ <span class="nt"><Model</span> <span class="na">Name=</span><span class="s">"car_bmw_7"</span><span class="nt">/></span>
+ <span class="nt"><Components></span>
+ <span class="nt"><Component</span> <span class="na">Type=</span><span class="s">"AEB"</span><span class="nt">></span>
+ <span class="nt"><Profiles></span>
+ <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"AebProfile"</span> <span class="na">Probability=</span><span class="s">"0.5"</span><span class="nt">/></span>
+ <span class="nt"></Profiles></span>
+ <span class="nt"><SensorLinks></span>
+ <span class="nt"><SensorLink</span> <span class="na">SensorId=</span><span class="s">"0"</span> <span class="na">InputId=</span><span class="s">"Camera"</span><span class="nt">/></span>
+ <span class="nt"></SensorLinks></span>
+ <span class="nt"></Component></span>
+ <span class="nt"></Components></span>
+ <span class="nt"><Sensors></span>
+ <span class="nt"><Sensor</span> <span class="na">Id=</span><span class="s">"0"</span><span class="nt">></span>
+ <span class="nt"><Position</span> <span class="na">Name=</span><span class="s">"Default"</span> <span class="na">Longitudinal=</span><span class="s">"0.0"</span> <span class="na">Lateral=</span><span class="s">"0.0"</span> <span class="na">Height=</span><span class="s">"0.5"</span> <span class="na">Pitch=</span><span class="s">"0.0"</span> <span class="na">Yaw=</span><span class="s">"0.0"</span> <span class="na">Roll=</span><span class="s">"0.0"</span><span class="nt">/></span>
+ <span class="nt"><Profile</span> <span class="na">Type=</span><span class="s">"Geometric2D"</span> <span class="na">Name=</span><span class="s">"Standard"</span><span class="nt">/></span>
+ <span class="nt"></Sensor></span>
+ <span class="nt"></Sensors></span>
+ <span class="nt"></VehicleProfile></span>
+ ...
+<span class="nt"></VehicleProfiles></span>
+</pre></div>
+</div>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 19%" />
+<col style="width: 81%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Name</p></td>
+<td><p>Name of the vehicle profile</p></td>
+</tr>
+<tr class="row-odd"><td><p>Components</p></td>
+<td><p>Lists all ADAS and other components in the vehicle</p></td>
+</tr>
+<tr class="row-even"><td><p>Sensors</p></td>
+<td><p>Lists all sensors in the vehicle</p></td>
+</tr>
+</tbody>
+</table>
+<div class="section" id="components">
+<span id="profilescatalog-components"></span><h3>Components<a class="headerlink" href="#components" title="Permalink to this headline">¶</a></h3>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 12%" />
+<col style="width: 88%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Type</p></td>
+<td><p>Type of the component.</p>
+<p>Must match component name in SystemConfigBlueprint</p>
+</td>
+</tr>
+<tr class="row-odd"><td><p>Profile</p></td>
+<td><p>Possible profiles of the component with probabilities.</p>
+<p>The profiles are defined in the <a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a> section</p>
+<p>Probabilities do not need to add up to 1.</p>
+</td>
+</tr>
+<tr class="row-even"><td><p>SensorLinks</p></td>
+<td><p>Defines which sensor this component uses as input</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The possibility of “not having that component” can be achieved if the probabilities of the profiles do not add up to 1.</p>
+</div>
+</div>
+<div class="section" id="sensors">
+<span id="profilescatalog-sensors"></span><h3>Sensors<a class="headerlink" href="#sensors" title="Permalink to this headline">¶</a></h3>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 12%" />
+<col style="width: 88%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Id</p></td>
+<td><p>Identifier for the sensor used by the SensorLink definition of the components</p></td>
+</tr>
+<tr class="row-odd"><td><p>Position</p></td>
+<td><p>Position of the sensor in the vehicle in relative coordinates</p></td>
+</tr>
+<tr class="row-even"><td><p>Profile</p></td>
+<td><p>All possible profiles of the sensor with probabilities.</p>
+<p>The profiles are defined in the <a class="reference internal" href="#profilescatalog-vehiclecomponentprofiles"><span class="std std-ref">VehicleComponent ProfileGroups</span></a> section</p>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</div>
+<div class="section" id="profilegroups">
+<span id="profilescatalog-profilegroups"></span><h2>ProfileGroups<a class="headerlink" href="#profilegroups" title="Permalink to this headline">¶</a></h2>
+<p>A ProfileGroup defines all the possible profiles of a component.
+A single profile is a set of parameters that are passed to the component in the same way as the parameters in the SystemConfig.
+Note: For components that have their parameters defined in the ProfilesCatalog the parameters in the SystemConfigBlueprint are ignored.
+Parameters can either be simple or stochastic.
+Simple parameters only have one value, while stochastic parameters have a minimum and maximum value as well as distribution specific parameters.
+Which parameters are needed/supported depends on the component.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"ComponentName"</span><span class="nt">></span>
+ <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"ExampleProfile"</span><span class="nt">></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"StringParameter"</span> <span class="na">Value=</span><span class="s">"Lorem ipsum"</span><span class="nt">/></span>
+ <span class="nt"><DoubleVector</span> <span class="na">Key=</span><span class="s">"DoubleParameter"</span> <span class="na">Value=</span><span class="s">"12.3,4.56,78.9"</span><span class="nt">/></span>
+ <span class="nt"><NormalDistribution</span> <span class="na">Key=</span><span class="s">"RandomParameter"</span> <span class="na">Mean=</span><span class="s">"4.5"</span> <span class="na">SD=</span><span class="s">"0.5"</span> <span class="na">Min=</span><span class="s">"3.5"</span> <span class="na">Max=</span><span class="s">"10.0"</span><span class="nt">/></span>
+ <span class="nt"></Profile></span>
+ <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"AnotherProfile"</span><span class="nt">></span>
+ ...
+ <span class="nt"></Profile></span>
+<span class="nt"></ProfileGroup></span>
+</pre></div>
+</div>
+<p>There are the following types of simple parameters:</p>
+<ul class="simple">
+<li><p>Bool</p></li>
+<li><p>Int</p></li>
+<li><p>Double</p></li>
+<li><p>String</p></li>
+<li><p>IntVector</p></li>
+<li><p>DoubleVector</p></li>
+<li><p>StringVector</p></li>
+</ul>
+<p>If a parameter is stochastic it can be defined as any to be drawn from any of the following distributions:</p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 33%" />
+<col style="width: 67%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Distribution</p></th>
+<th class="head"><p>Additional Attributes</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>NormalDistribution</p></td>
+<td><p>(Mean and SD) or (Mu and Sigma) - equivalent</p></td>
+</tr>
+<tr class="row-odd"><td><p>LogNormalDistribution</p></td>
+<td><p>(Mean and SD) or (Mu and Sigma) - not equivalent</p></td>
+</tr>
+<tr class="row-even"><td><p>UniformDistribution</p></td>
+<td><p>None</p></td>
+</tr>
+<tr class="row-odd"><td><p>ExponentialDistribution</p></td>
+<td><p>Lambda or Mean (Mean = 1 / Lambda)</p></td>
+</tr>
+<tr class="row-even"><td><p>GammaDistribution</p></td>
+<td><p>(Mean and SD) or (Shape and Scale)</p></td>
+</tr>
+</tbody>
+</table>
+<p>Additionally there is the list type.
+The list contains any number of list items which itself contain a list of parameters.
+Lists can be nested at most two times.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><List</span> <span class="na">Name=</span><span class="s">"ExampleList"</span><span class="nt">></span>
+ <span class="nt"><ListItem></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"FirstParameter"</span> <span class="na">Value=</span><span class="s">"Lorem"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SecondParameter"</span> <span class="na">Value=</span><span class="s">"0.4"</span><span class="nt">/></span>
+ <span class="nt"></ListItem></span>
+ <span class="nt"><ListItem></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"FirstParameter"</span> <span class="na">Value=</span><span class="s">"ipsum"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SecondParameter"</span> <span class="na">Value=</span><span class="s">"0.6"</span><span class="nt">/></span>
+ <span class="nt"></ListItem></span>
+<span class="nt"></List></span>
+</pre></div>
+</div>
+<p>A Profile can also reference another Profile in another ProfileGroup.
+In these case the importer handles the reference as if it was substituted by all subelements of the referenced Profile.
+References may not be nested.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Reference</span> <span class="na">Type=</span><span class="s">"GroupType"</span> <span class="na">Name=</span><span class="s">"ProfileName"</span><span class="nt">/></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="driver-profilegroup">
+<span id="profilescatalog-driverprofiles"></span><h2>Driver ProfileGroup<a class="headerlink" href="#driver-profilegroup" title="Permalink to this headline">¶</a></h2>
+<p>This section contains all driver profiles used by the simulation.
+At least one driver profile is required.
+The special parameter “Type” defines the name of the component (i.e. library name).
+For details on the indivual parameters see the <a class="reference internal" href="../sim_user_guide/components/driver.html#components-driver"><span class="std std-ref">components reference</span></a>.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"Driver"</span><span class="nt">></span>
+ <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Name"</span><span class="nt">></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"Type"</span> <span class="na">Value=</span><span class="s">"DriverLibrary"</span><span class="nt">/></span>
+ ...
+ <span class="nt"></Profile></span>
+ ...
+<span class="nt"></ProfileGroup></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="vehiclecomponent-profilegroups">
+<span id="profilescatalog-vehiclecomponentprofiles"></span><h2>VehicleComponent ProfileGroups<a class="headerlink" href="#vehiclecomponent-profilegroups" title="Permalink to this headline">¶</a></h2>
+<p>This sections contains all driver assistance systems and other vehicle components and their parameter sets.
+For every used VehicleComponent type there must be a ProfileGroup with this type and every profile of this type used by <a class="reference internal" href="#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a> must be listed here.
+For details on the indivual parameters see the <a class="reference internal" href="../sim_user_guide/components/vehicle.html#components-vehiclecomponents"><span class="std std-ref">components reference</span></a>.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"LibraryName"</span><span class="nt">></span>
+ <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Name"</span><span class="nt">></span>
+ ...
+ <span class="nt"></Profile></span>
+ ...
+<span class="nt"></ProfileGroup></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="spawnerprofile-profilegroup">
+<span id="profilescatalog-spawnerprofiles"></span><h2>SpawnerProfile ProfileGroup<a class="headerlink" href="#spawnerprofile-profilegroup" title="Permalink to this headline">¶</a></h2>
+<p>This sections contains all parameters of the spawners referenced in the <a class="reference internal" href="simulationconfig.html#simulationconfig"><span class="std std-ref">SimulationConfig</span></a>.
+For details on the indivual parameters see the <a class="reference internal" href="../sim_user_guide/components/spawner.html#components-spawner"><span class="std std-ref">components reference</span></a>.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"Spawner"</span><span class="nt">></span>
+ <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Name"</span><span class="nt">></span>
+ ...
+ <span class="nt"></Profile></span>
+ ...
+<span class="nt"></ProfileGroup></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="trafficrules-profilegroup">
+<span id="profilescatalog-trafficrulesprofiles"></span><h2>TrafficRules ProfileGroup<a class="headerlink" href="#trafficrules-profilegroup" title="Permalink to this headline">¶</a></h2>
+<p>This sections contains the global traffic rules, that may vary depending on the country.
+The <a class="reference internal" href="simulationconfig.html#simulationconfig-environment"><span class="std std-ref">Environment</span></a> section in the SimulationConfig defines which set is used.
+Currently there are only rules regulating highway traffic. These are the following:</p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 18%" />
+<col style="width: 6%" />
+<col style="width: 76%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Name</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenSpeedLimit</p></td>
+<td><p>Double</p></td>
+<td><p>maximum allowed speed if not restricted by signs</p></td>
+</tr>
+<tr class="row-odd"><td><p>KeepToOuterLanes</p></td>
+<td><p>Bool</p></td>
+<td><p>if true, vehicles must use the outermost free lane for driving</p></td>
+</tr>
+<tr class="row-even"><td><p>DontOvertakeOnOuterLanes</p></td>
+<td><p>Bool</p></td>
+<td><p>if true, it is prohibited to overtake another vehicle, that is driving further left (or right for lefthand traffic)</p></td>
+</tr>
+<tr class="row-odd"><td><p>FormRescueLane</p></td>
+<td><p>Bool</p></td>
+<td><p>if true, vehicles driving in a traffic jam must form a corridor for emergency vehicles</p></td>
+</tr>
+<tr class="row-even"><td><p>ZipperMerge</p></td>
+<td><p>Bool</p></td>
+<td><p>if true all merging shall be performed using zipper merge</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"TrafficRules"</span><span class="nt">></span>
+ <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Germany"</span><span class="nt">></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"OpenSpeedLimit"</span> <span class="na">Value=</span><span class="s">"INF"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"KeepToOuterLanes"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"DontOvertakeOnOuterLanes"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"FormRescueLane"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"ZipperMerge"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span>
+ <span class="nt"></Profile></span>
+ <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"USA"</span><span class="nt">></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"OpenSpeedLimit"</span> <span class="na">Value=</span><span class="s">"31.2928"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"KeepToOuterLanes"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"DontOvertakeOnOuterLanes"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"FormRescueLane"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"ZipperMerge"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
+ <span class="nt"></Profile></span>
+ <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"China"</span><span class="nt">></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"OpenSpeedLimit"</span> <span class="na">Value=</span><span class="s">"33.3333"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"KeepToOuterLanes"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"DontOvertakeOnOuterLanes"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"FormRescueLane"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"ZipperMerge"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span>
+ <span class="nt"></Profile></span>
+ <span class="nt"></ProfileGroup></span>
+</pre></div>
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- <div class="section" id="scenario">
-<span id="id1"></span><h1>Scenario<a class="headerlink" href="#scenario" title="Permalink to this headline">¶</a></h1>
-<div class="section" id="overview">
-<span id="scenario-overview"></span><h2>Overview<a class="headerlink" href="#overview" title="Permalink to this headline">¶</a></h2>
-<p>The scenario configuration file describes all dynamic configuration of a simulation run, i.e. the position of an agent as well as conditional events that alter the behavior of the simulation during the run.
-It adheres to the <strong>ASAM OpenSCENARIO 1.0</strong> standard, although we support only a subset of the features of the standard.</p>
-<p>The different parts of the scenario configuration are described in the following chapters.</p>
-</div>
-<div class="section" id="parameterdeclarations">
-<span id="scenario-parameterdeclaration"></span><h2>ParameterDeclarations<a class="headerlink" href="#parameterdeclarations" title="Permalink to this headline">¶</a></h2>
-<p>The tag <code class="docutils literal notranslate"><span class="pre">ParameterDeclarations</span></code> allow to define generic parameters, which can be referenced later the file by its name, prefixed with <code class="docutils literal notranslate"><span class="pre">$</span></code>.</p>
-<p><strong>Example declaration</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ParameterDeclarations></span>
- <span class="nt"><ParameterDeclaration</span> <span class="na">name=</span><span class="s">"OP_OSC_SchemaVersion"</span> <span class="na">parameterType=</span><span class="s">"string"</span> <span class="na">value=</span><span class="s">"0.4.0"</span><span class="nt">/></span>
-<span class="nt"></ParameterDeclarations></span>
-</pre></div>
-</div>
-<p><strong>Example usage</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><SimulationTimeCondition</span> <span class="na">value=</span><span class="s">"30.0"</span> <span class="na">rule=</span><span class="s">"greaterThan"</span><span class="nt">/></span>
-</pre></div>
-</div>
-<p><strong>Supported parameterTypes</strong></p>
-<ul class="simple">
-<li><p>string</p></li>
-<li><p>integer</p></li>
-<li><p>double</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Only <code class="docutils literal notranslate"><span class="pre">string</span></code> allows empty values.</p>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>The parameter <code class="docutils literal notranslate"><span class="pre">OP_OSC_SchemaVersion</span></code> is used to check for schema compatibility and is mandatory within <strong>openPASS</strong>.</p>
-</div>
-</div>
-<div class="section" id="catalogs">
-<span id="scenario-catalogs"></span><h2>Catalogs<a class="headerlink" href="#catalogs" title="Permalink to this headline">¶</a></h2>
-<p>The <code class="docutils literal notranslate"><span class="pre">Catalogs</span></code> tag defines references to various other files containing sub features of OpenSCENARIO (and written in the same format).</p>
-<p>The following catalogs interpreted:</p>
-<ul class="simple">
-<li><p>Mandatory: <a class="reference internal" href="#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a></p></li>
-<li><p>Mandatory: <a class="reference internal" href="#scenario-pedestrianmodels"><span class="std std-ref">PedestrianCatalog</span></a></p></li>
-<li><p>Optional: TrajectoryCatalog for the case that a <em>FollowTrajectory action</em> is defined</p></li>
-</ul>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><CatalogLocations></span>
- <span class="nt"><VehicleCatalog></span>
- <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">"VehicleModelsCatalog.xosc"</span><span class="nt">/></span>
- <span class="nt"></VehicleCatalog></span>
- <span class="nt"><PedestrianCatalog></span>
- <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">"PedestrianModelsCatalog.xosc"</span><span class="nt">/></span>
- <span class="nt"></PedestrianCatalog></span>
- <span class="nt"><ControllerCatalog></span>
- <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
- <span class="nt"></ControllerCatalog></span>
- <span class="nt"><ManeuverCatalog></span>
- <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
- <span class="nt"></ManeuverCatalog></span>
- <span class="nt"><MiscObjectCatalog></span>
- <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
- <span class="nt"></MiscObjectCatalog></span>
- <span class="nt"><EnvironmentCatalog></span>
- <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
- <span class="nt"></EnvironmentCatalog></span>
- <span class="nt"><TrajectoryCatalog></span>
- <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
- <span class="nt"></TrajectoryCatalog></span>
- <span class="nt"><RouteCatalog></span>
- <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
- <span class="nt"></RouteCatalog></span>
-<span class="nt"></CatalogLocations></span>
-</pre></div>
-</div>
-<div class="section" id="vehiclecatalog">
-<span id="scenario-vehiclemodels"></span><h3>VehicleCatalog<a class="headerlink" href="#vehiclecatalog" title="Permalink to this headline">¶</a></h3>
-<p>This file is mandatory.
-It contains the available vehicle models for the simulation.
-For each vehicle the physical parameters are stored here.</p>
-<p><strong>Supported models:</strong></p>
-<ul class="simple">
-<li><p>car_bmw_i3</p></li>
-<li><p>car_bmw_3</p></li>
-<li><p>car_bmw_7_1</p></li>
-<li><p>car_bmw_7_2</p></li>
-<li><p>car_mini_cooper</p></li>
-<li><p>bus</p></li>
-<li><p>truck</p></li>
-<li><p>bicycle</p></li>
-</ul>
-<p><strong>Full Example:</strong> <a class="reference download internal" download="" href="../../../_downloads/41199500c8d6a3b79ce03f32a7e2ba48/VehicleModelsCatalog.xosc"><code class="xref download docutils literal notranslate"><span class="pre">/../../../sim/contrib/examples/DefaultConfigurations/VehicleModelsCatalog.xosc</span></code></a></p>
-</div>
-<div class="section" id="pedestriancatalog">
-<span id="scenario-pedestrianmodels"></span><h3>PedestrianCatalog<a class="headerlink" href="#pedestriancatalog" title="Permalink to this headline">¶</a></h3>
-<p>This file is mandatory.
-It contains the available pedestrian models for the simulation.
-For each pedestrian the physical parameters are stored here.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Currently, pedestrian models are internally handled the same way as vehicle models, i.e. they behave like simplified vehicles.
-For convenience, <strong>openPASS</strong> internally sets <em>meaningless</em> parameters, such as <em>number of gears</em>, to operational defaults.</p>
-</div>
-<p><strong>Supported models:</strong></p>
-<ul class="simple">
-<li><p>pedestrian_child</p></li>
-<li><p>pedestrian_adult</p></li>
-</ul>
-<p><strong>Full Example:</strong> <a class="reference download internal" download="" href="../../../_downloads/7ad22aafab05e8f351a67b0b372135f7/PedestrianModelsCatalog.xosc"><code class="xref download docutils literal notranslate"><span class="pre">/../../../sim/contrib/examples/DefaultConfigurations/PedestrianModelsCatalog.xosc</span></code></a></p>
-</div>
-</div>
-<div class="section" id="roadnetwork">
-<span id="scenario-roadnetwork"></span><h2>RoadNetwork<a class="headerlink" href="#roadnetwork" title="Permalink to this headline">¶</a></h2>
-<p>The <code class="docutils literal notranslate"><span class="pre">RoadNetwork</span></code> tag contains the mandatory reference to the OpenDRIVE <a class="reference internal" href="scenery.html#scenery"><span class="std std-ref">Scenery</span></a>.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><RoadNetwork></span>
- <span class="nt"><LogicFile</span> <span class="na">filepath=</span><span class="s">"SceneryConfiguration.xodr"</span><span class="nt">/></span>
- <span class="nt"><SceneGraphFile</span> <span class="na">filepath=</span><span class="s">""</span><span class="nt">/></span>
-<span class="nt"></RoadNetwork></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="entities">
-<span id="scenario-entities"></span><h2>Entities<a class="headerlink" href="#entities" title="Permalink to this headline">¶</a></h2>
-<p>The <code class="docutils literal notranslate"><span class="pre">Entities</span></code> tag defines all agents that are present at the start of the simulation at predefined positions.
-There may be any number of these so called <strong>Scenario Agents</strong> (also zero).
-Each entity is described by a name and a reference to a vehicle profile within the <a class="reference internal" href="profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a>.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>This deviates from the OpenSCENARIO standard.</p>
-</div>
-<div class="admonition-todo admonition" id="id2">
-<p class="admonition-title">Todo</p>
-<p>In what way do scenario agents deviate from the standard?</p>
-</div>
-<p>To specify an entity as the <strong>Ego Agent</strong>, the it must be named “Ego”.</p>
-<p>Entities can also be grouped into selections.</p>
-<div class="admonition-todo admonition" id="id3">
-<p class="admonition-title">Todo</p>
-<p>What is an EntitySelection?</p>
-</div>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Entities></span>
- <span class="nt"><ScenarioObject</span> <span class="na">name=</span><span class="s">"Ego"</span><span class="nt">></span>
- <span class="nt"><CatalogReference</span> <span class="na">catalogName=</span><span class="s">"ProfilesCatalog.xml"</span> <span class="na">entryName=</span><span class="s">"MiddleClassCarAgent"</span><span class="nt">/></span>
- <span class="nt"></ScenarioObject></span>
- <span class="nt"><EntitySelection</span> <span class="na">name=</span><span class="s">"ScenarioAgents"</span><span class="nt">></span>
- <span class="nt"><Members/></span>
- <span class="nt"></EntitySelection></span>
-<span class="nt"></Entities></span>
-</pre></div>
-</div>
-<p><strong>Overriding Parameters</strong></p>
-<p>Parameters defined in the VehicleCatalog can be assigned inside the CatalogReference element.
-In this case the assigned parameter will overwrite the definition in the VehicleCatalog.
-Otherwise the value defined in the VehicleCatalog is used.
-The type of the parameter must match that in the VehicleCatalog.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><CatalogReference</span> <span class="na">catalogName=</span><span class="s">"ProfilesCatalog.xml"</span> <span class="na">entryName=</span><span class="s">"MiddleClassCarAgent"</span><span class="nt">></span>
- <span class="nt"><ParameterAssignments></span>
- <span class="nt"><ParameterAssignment</span> <span class="na">parameterRef=</span><span class="s">"Length"</span> <span class="na">value=</span><span class="s">"4.0"</span> <span class="nt">/></span>
- <span class="nt"></ParameterAssignments></span>
-<span class="nt"></CatalogReference></span>
-</pre></div>
-</div>
-<div class="admonition-agentprofile-vs-vehiclemodel admonition">
-<p class="admonition-title">AgentProfile vs. VehicleModel</p>
-<p><strong>OpenPASS</strong> references AgentProfiles instead of a VehicleModels.
-Such an AgentProfile may have a stochastic distribution of different VehicleModels, each with potentially different parameters.
-After the random selection of the vehicle model, some parameters may not be available and are therefore not assigned (ignored).</p>
-</div>
-</div>
-<div class="section" id="storyboard">
-<span id="scenario-storyboard"></span><h2>Storyboard<a class="headerlink" href="#storyboard" title="Permalink to this headline">¶</a></h2>
-<p>The <code class="docutils literal notranslate"><span class="pre">Storyboard</span></code> tag contains the initial setup of the scenario and manipulator actions.
-These actions control the behavior of the simulation at runtime based on predefined conditions.</p>
-<div class="section" id="init">
-<span id="scenario-init"></span><h3>Init<a class="headerlink" href="#init" title="Permalink to this headline">¶</a></h3>
-<p>The content of the <code class="docutils literal notranslate"><span class="pre">Init</span></code> tag is forwarded to the SpawnPoint and define <em>if</em> and <em>where</em> it should place the ego and scenario agents.
-The position can either be defined as global coordinates (x and y) with the <code class="docutils literal notranslate"><span class="pre">World</span></code> tag or as lane coordinates (s and t) with the <code class="docutils literal notranslate"><span class="pre">Lane</span></code> tag.</p>
-<p>The schema is defined as follows:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 26%" />
-<col style="width: 24%" />
-<col style="width: 32%" />
-<col style="width: 18%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Parent</p></th>
-<th class="head"><p>Attributes</p></th>
-<th class="head"><p>Occurrences</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Actions</p></td>
-<td><p>Init</p></td>
-<td><p><em>none</em></p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-odd"><td><p>Private</p></td>
-<td><p>Actions</p></td>
-<td><p>entityRef</p></td>
-<td><p>1 per entity</p></td>
-</tr>
-<tr class="row-even"><td><p>PrivateAction</p></td>
-<td><p>Private</p></td>
-<td><p><em>none</em></p></td>
-<td><p>1+</p></td>
-</tr>
-<tr class="row-odd"><td><p>TeleportAction</p></td>
-<td><p>PrivateAction</p></td>
-<td><p><em>none</em></p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-even"><td><p>Position</p></td>
-<td><p>TeleportAction</p></td>
-<td><p><em>none</em></p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-odd"><td><p>LanePosition</p></td>
-<td><p>Position</p></td>
-<td><p>roadId, laneId, s, offset</p></td>
-<td><p>0 or 1</p></td>
-</tr>
-<tr class="row-even"><td><p>WorldPosition</p></td>
-<td><p>Position</p></td>
-<td><p>x, y, h</p></td>
-<td><p>0 or 1</p></td>
-</tr>
-<tr class="row-odd"><td><p>Orientation</p></td>
-<td><p>LanePosition</p></td>
-<td><p>type, h</p></td>
-<td><p>0 or 1</p></td>
-</tr>
-<tr class="row-even"><td><p>LongitudinalAction</p></td>
-<td><p>PrivateAction</p></td>
-<td><p><em>none</em></p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-odd"><td><p>SpeedAction</p></td>
-<td><p>LongitudinalAction</p></td>
-<td><p><em>none</em></p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-even"><td><p>SpeedActionDynamics</p></td>
-<td><p>SpeedAction</p></td>
-<td><p>rate, dynamicsShape</p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-odd"><td><p>SpeedActionTarget</p></td>
-<td><p>SpeedAction</p></td>
-<td><p><em>none</em></p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-even"><td><p>AbsoluteTargetSpeed</p></td>
-<td><p>SpeedActionTarget</p></td>
-<td><p>value</p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-odd"><td><p>RoutingAction</p></td>
-<td><p>PrivateAction</p></td>
-<td><p><em>none</em></p></td>
-<td><p>0 or 1</p></td>
-</tr>
-<tr class="row-even"><td><p>AssignRouteAction</p></td>
-<td><p>RoutingAction</p></td>
-<td><p><em>none</em></p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-odd"><td><p>Route</p></td>
-<td><p>AssignRouteAction</p></td>
-<td><p><em>none</em></p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-even"><td><p>Waypoint</p></td>
-<td><p>Route</p></td>
-<td><p><em>none</em></p></td>
-<td><p>1+</p></td>
-</tr>
-<tr class="row-odd"><td><p>Position</p></td>
-<td><p>Waypoint</p></td>
-<td><p><em>none</em></p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-even"><td><p>RoadPosition</p></td>
-<td><p>Position</p></td>
-<td><p>roadId, t</p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-odd"><td><p>VisibilityAction</p></td>
-<td><p>PrivateAction</p></td>
-<td><p>traffic</p></td>
-<td><p>1</p></td>
-</tr>
-</tbody>
-</table>
-<p>All listed attributes are required.
-The attributes have the following meaning:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 15%" />
-<col style="width: 14%" />
-<col style="width: 71%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Private</p></td>
-<td><p>entityRef</p></td>
-<td><p>name of the entity for which the initial values are described in the sub-tags</p></td>
-</tr>
-<tr class="row-odd"><td><p>LanePosition</p></td>
-<td><p>roadId</p></td>
-<td><p>Id of the road in the Scenery</p></td>
-</tr>
-<tr class="row-even"><td><p>LanePosition</p></td>
-<td><p>laneId</p></td>
-<td><p>Id of the lane in the Scenery</p></td>
-</tr>
-<tr class="row-odd"><td><p>LanePosition</p></td>
-<td><p>s</p></td>
-<td><p>start position on the lane (i.e. distance from the start of the road) of the reference point</p></td>
-</tr>
-<tr class="row-even"><td><p>LanePosition</p></td>
-<td><p>offset</p></td>
-<td><p>lateral distance of the reference point to the middle of the road (i.e. t coordinate)</p></td>
-</tr>
-<tr class="row-odd"><td><p>WorldPosition</p></td>
-<td><p>x</p></td>
-<td><p>x coordinate of the reference point</p></td>
-</tr>
-<tr class="row-even"><td><p>WorldPosition</p></td>
-<td><p>y</p></td>
-<td><p>y coordinate of the reference point</p></td>
-</tr>
-<tr class="row-odd"><td><p>WorldPosition</p></td>
-<td><p>h</p></td>
-<td><p>heading</p></td>
-</tr>
-<tr class="row-even"><td><p>Orientation</p></td>
-<td><p>type</p></td>
-<td><p>has to be “relative”</p></td>
-</tr>
-<tr class="row-odd"><td><p>Orientation</p></td>
-<td><p>h</p></td>
-<td><p>heading angle in radiant relative to the lane</p></td>
-</tr>
-<tr class="row-even"><td><p>SpeedActionDynamics</p></td>
-<td><p>rate</p></td>
-<td><p>acceleration</p></td>
-</tr>
-<tr class="row-odd"><td><p>SpeedActionDynamics</p></td>
-<td><p>dynamicsShape</p></td>
-<td><p>“linear” for constant acceleration, “step” for immediate transition</p></td>
-</tr>
-<tr class="row-even"><td><p>SpeedActionDynamics</p></td>
-<td><p>dynamicsDimension</p></td>
-<td><p>has to be “rate”</p></td>
-</tr>
-<tr class="row-odd"><td><p>AbsoluteTargetSpeed</p></td>
-<td><p>value</p></td>
-<td><p>velocity</p></td>
-</tr>
-<tr class="row-even"><td><p>RoadPosition</p></td>
-<td><p>roadId</p></td>
-<td><p>Id of the road in the Scenery</p></td>
-</tr>
-<tr class="row-odd"><td><p>RoadPosition</p></td>
-<td><p>t</p></td>
-<td><p>negative for driving in roadDirection (i.e on lanes with negative Id) else positive</p></td>
-</tr>
-<tr class="row-even"><td><p>RoadPosition</p></td>
-<td><p>s</p></td>
-<td><p>ignored</p></td>
-</tr>
-<tr class="row-odd"><td><p>VisibilityAction</p></td>
-<td><p>traffic</p></td>
-<td><p>Flag deciding if the scenario agent will be spawned (true = spawned, false = not spawned)</p></td>
-</tr>
-</tbody>
-</table>
-<p><strong>Defining a Position</strong></p>
-<p><strong>OpenPASS</strong> only supports <code class="docutils literal notranslate"><span class="pre">LanePosition</span></code> and <code class="docutils literal notranslate"><span class="pre">WorldPosition</span></code> from the OpenSCENARIO standard.</p>
-<p><strong>Controlling Visibility</strong></p>
-<p>VisibilityAction is an optional attribute, which allows easy parameterization of certain entities, e.g. via <a class="reference internal" href="#scenario-parameterdeclaration"><span class="std std-ref">ParameterDeclarations</span></a>.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>If VisibilityAction <strong>is not defined</strong> the according entity agent <strong>will be spawned</strong>.</p>
-</div>
-<p><strong>Stochastic Values</strong></p>
-<p>Unlike OpenSCENARIO, <strong>openPASS</strong> allows some of the aforementioned values to be stochastic.
-This is achieved by using the sub-tag <code class="docutils literal notranslate"><span class="pre">Stochastics</span></code> within the tags <code class="docutils literal notranslate"><span class="pre">LanePosition</span></code> or <code class="docutils literal notranslate"><span class="pre">SpeedAction</span></code>:</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Stochastics</span> <span class="na">value=</span><span class="s">"..."</span> <span class="na">stdDeviation=</span><span class="s">"..."</span> <span class="na">lowerBound=</span><span class="s">"..."</span> <span class="na">upperBound=</span><span class="s">"..."</span><span class="nt">/></span>
-</pre></div>
-</div>
-<p>The stochastics tag normally defines a normal distribution, but it is up to each component to interpret its values.
-Here, value is a selector, which can be either <code class="docutils literal notranslate"><span class="pre">s</span></code>, <code class="docutils literal notranslate"><span class="pre">offset</span></code> (if inside LanePosition), <code class="docutils literal notranslate"><span class="pre">velocity</span></code> or <code class="docutils literal notranslate"><span class="pre">rate</span></code> (if inside SpeedAction).
-Depending on the selected type, the actual mean value is then taken from the attribute of the corresponding tag <code class="docutils literal notranslate"><span class="pre">LanePosition</span></code>, <code class="docutils literal notranslate"><span class="pre">SpeedActionDynamics</span></code>, or <code class="docutils literal notranslate"><span class="pre">AbsoluteTargetSpeed</span></code>.</p>
-<p><strong>Full Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Init></span>
- <span class="nt"><Actions></span>
- <span class="nt"><Private</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><TeleportAction></span>
- <span class="nt"><Position></span>
- <span class="nt"><LanePosition</span> <span class="na">roadId=</span><span class="s">"1"</span> <span class="na">s=</span><span class="s">"20.0"</span> <span class="na">laneId=</span><span class="s">"-2"</span> <span class="na">offset=</span><span class="s">"0.0"</span><span class="nt">></span>
- <span class="nt"><Orientation</span> <span class="na">type=</span><span class="s">"relative"</span> <span class="na">h=</span><span class="s">"0.2"</span><span class="nt">/></span>
- <span class="nt"><Stochastics</span> <span class="na">value=</span><span class="s">"s"</span> <span class="na">stdDeviation=</span><span class="s">"5.0"</span> <span class="na">lowerBound=</span><span class="s">"10.0"</span>
- <span class="na">upperBound=</span><span class="s">"30.0"</span><span class="nt">/></span>
- <span class="nt"></LanePosition></span>
- <span class="nt"></Position></span>
- <span class="nt"></TeleportAction></span>
- <span class="nt"></PrivateAction></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><LongitudinalAction></span>
- <span class="nt"><SpeedAction></span>
- <span class="nt"><SpeedActionDynamics</span> <span class="na">rate=</span><span class="s">"0.0"</span> <span class="na">dynamicsShape=</span><span class="s">"linear"</span>
- <span class="na">dynamicsDimension=</span><span class="s">"rate"</span><span class="nt">/></span>
- <span class="nt"><SpeedActionTarget></span>
- <span class="nt"><AbsoluteTargetSpeed</span> <span class="na">value=</span><span class="s">"10.0"</span> <span class="nt">/></span>
- <span class="nt"></SpeedActionTarget></span>
- <span class="nt"><Stochastics</span> <span class="na">value=</span><span class="s">"velocity"</span> <span class="na">stdDeviation=</span><span class="s">"2.0"</span> <span class="na">lowerBound=</span><span class="s">"5.0"</span>
- <span class="na">upperBound=</span><span class="s">"15.0"</span><span class="nt">/></span>
- <span class="nt"></SpeedAction></span>
- <span class="nt"></LongitudinalAction></span>
- <span class="nt"></PrivateAction></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><RoutingAction></span>
- <span class="nt"><AssignRouteAction></span>
- <span class="nt"><Route></span>
- <span class="nt"><Waypoint></span>
- <span class="nt"><Position></span>
- <span class="nt"><RoadPosition</span> <span class="na">roadId=</span><span class="s">"1"</span> <span class="na">t=</span><span class="s">"-1.0"</span> <span class="na">s=</span><span class="s">"0"</span><span class="nt">/></span>
- <span class="nt"></Position></span>
- <span class="nt"></Waypoint></span>
- <span class="nt"><Waypoint></span>
- <span class="nt"><Position></span>
- <span class="nt"><RoadPosition</span> <span class="na">roadId=</span><span class="s">"2"</span> <span class="na">t=</span><span class="s">"-1.0"</span> <span class="na">s=</span><span class="s">"0"</span><span class="nt">/></span>
- <span class="nt"></Position></span>
- <span class="nt"></Waypoint></span>
- <span class="nt"></Route></span>
- <span class="nt"></AssignRouteAction></span>
- <span class="nt"></RoutingAction></span>
- <span class="nt"></PrivateAction></span>
- <span class="nt"></Private></span>
- <span class="nt"><Private</span> <span class="na">entityRef=</span><span class="s">"ScenarioAgent"</span><span class="nt">></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><TeleportAction></span>
- <span class="nt"><Position></span>
- <span class="nt"><LanePosition</span> <span class="na">roadId=</span><span class="s">"1"</span> <span class="na">s=</span><span class="s">"50.0"</span> <span class="na">laneId=</span><span class="s">"-3"</span> <span class="na">offset=</span><span class="s">"0.0"</span><span class="nt">/></span>
- <span class="nt"></Position></span>
- <span class="nt"></TeleportAction></span>
- <span class="nt"></PrivateAction></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><LongitudinalAction></span>
- <span class="nt"><SpeedAction></span>
- <span class="nt"><SpeedActionDynamics</span> <span class="na">rate=</span><span class="s">"0.0"</span> <span class="na">dynamicsShape=</span><span class="s">"linear"</span>
- <span class="na">dynamicsDimension=</span><span class="s">"rate"</span><span class="nt">/></span>
- <span class="nt"><SpeedActionTarget></span>
- <span class="nt"><AbsoluteTargetSpeed</span> <span class="na">value=</span><span class="s">"10.0"</span> <span class="nt">/></span>
- <span class="nt"></SpeedActionTarget></span>
- <span class="nt"></SpeedAction></span>
- <span class="nt"></LongitudinalAction></span>
- <span class="nt"></PrivateAction></span>
- <span class="nt"></Private></span>
- <span class="nt"></Actions></span>
-<span class="nt"></Init></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="story">
-<span id="scenario-story"></span><h3>Story<a class="headerlink" href="#story" title="Permalink to this headline">¶</a></h3>
-<p>The tag <code class="docutils literal notranslate"><span class="pre">Story</span></code> is optional and defines all conditional interventions during runtime.
-The story consists of multiple acts, which itself can consist of multiple <code class="docutils literal notranslate"><span class="pre">ManeuverGroup</span></code> tags.
-A maneuver groups must consist of exactly one <code class="docutils literal notranslate"><span class="pre">Actors</span></code> tag and one <code class="docutils literal notranslate"><span class="pre">Maneuver</span></code> tag.
-The <code class="docutils literal notranslate"><span class="pre">maximumExecutionCount</span></code> attribute states the maximum number of times that each maneuver will by triggered.
-To trigger an maneuver for an unlimited number of times, set the value to <code class="docutils literal notranslate"><span class="pre">-1,</span></code>.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>While multiple stories can be added, grouping of maneuver groups into acts currently has no effect in the simulator.</p>
-</div>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Story</span> <span class="na">name=</span><span class="s">"MyStory"</span><span class="nt">></span>
- <span class="nt"><Act</span> <span class="na">name=</span><span class="s">"Act1"</span><span class="nt">></span>
- <span class="nt"><ManeuverGroup</span> <span class="na">name=</span><span class="s">"MySequence"</span> <span class="na">maximumExecutionCount=</span><span class="s">"-1"</span><span class="nt">></span>
- <span class="nt"><Actors></span>
- ...
- <span class="nt"></Actors></span>
- <span class="nt"><Maneuver</span> <span class="na">name=</span><span class="s">"MyManeuver"</span><span class="nt">></span>
- ...
- <span class="nt"></Maneuver></span>
- <span class="nt"></ManeuverGroup></span>
- <span class="nt"></Act></span>
-<span class="nt"></Story></span>
-</pre></div>
-</div>
-<div class="section" id="actors">
-<span id="scenario-actors"></span><h4>Actors<a class="headerlink" href="#actors" title="Permalink to this headline">¶</a></h4>
-<p>The <code class="docutils literal notranslate"><span class="pre">Actors</span></code> tag defines the agents that are mainly affected by this sequence.
-These agents can either be defined directly by stating their name within a sub-tag <code class="docutils literal notranslate"><span class="pre"><EntityRef</span> <span class="pre">entityRef="entityName"/></span></code> or as the agent that triggered the event itself via <code class="docutils literal notranslate"><span class="pre"><Actors</span> <span class="pre">selectTriggeringEntities="true"/></span></code>.</p>
-</div>
-<div class="section" id="maneuver">
-<span id="scenario-maneuver"></span><h4>Maneuver<a class="headerlink" href="#maneuver" title="Permalink to this headline">¶</a></h4>
-<p>The <code class="docutils literal notranslate"><span class="pre">Maneuver</span></code> tag defines the conditions, when an action shall take place.
-It contains one or more events, each consisting of <strong>one</strong> action and <strong>one or more</strong> start conditions.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Only a single action is currently supported, although the standard allows several.</p>
-</div>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>Due to internal handling, event names must be unique.</p>
-</div>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Maneuver</span> <span class="na">name=</span><span class="s">"MyManeuver"</span><span class="nt">></span>
- <span class="nt"><Event</span> <span class="na">name=</span><span class="s">"MyEvent"</span> <span class="na">priority=</span><span class="s">"overwrite"</span><span class="nt">></span>
- <span class="nt"><Action</span> <span class="na">name=</span><span class="s">"MyManipulator"</span><span class="nt">></span>
- ...
- <span class="nt"></Action></span>
- <span class="nt"><StartTrigger></span>
- <span class="nt"><ConditionGroup></span>
- <span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"Conditional"</span><span class="nt">></span>
- ...
- <span class="nt"></Condition></span>
- <span class="nt"></ConditionGroup></span>
- <span class="nt"></StartTrigger></span>
- <span class="nt"></Event></span>
-<span class="nt"></Maneuver></span>
-</pre></div>
-</div>
-<div class="section" id="conditions">
-<span id="scenario-conditions"></span><h5>Conditions<a class="headerlink" href="#conditions" title="Permalink to this headline">¶</a></h5>
-<p><strong>OpenPASS</strong> support different kind of conditions, belonging either to <code class="docutils literal notranslate"><span class="pre">ByValueCondition</span></code> or <code class="docutils literal notranslate"><span class="pre">ByEntityCondition</span></code>.
-While a <strong>by value condition</strong> trigger based on a specified value and is unrelated to any specific agent, a <strong>by entity condition</strong> is bound to an triggering agent, defined by a mandatory section <code class="docutils literal notranslate"><span class="pre">TriggeringEntities</span></code>.
-Entities can be either ego or scenario agents, or all agents if the section is left blank.</p>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>OpenSCENARIO specifies that a rule should be applied to the <code class="docutils literal notranslate"><span class="pre">TriggeringEntities</span></code> element.
-Currently, only the rule <code class="docutils literal notranslate"><span class="pre">any</span></code> is supported, so any of the listed entities may satisfy the condition independent of the others.</p>
-</div>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 72%" />
-<col style="width: 28%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Condition</p></th>
-<th class="head"><p>Triggered By</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p><a class="reference internal" href="#scenario-simulationtime"><span class="std std-ref">SimulationTime</span></a></p></td>
-<td><p>Value</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="#scenario-relativelaneposition"><span class="std std-ref">RelativeLanePosition</span></a></p></td>
-<td><p>Entity</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="#scenario-roadposition"><span class="std std-ref">RoadPosition</span></a></p></td>
-<td><p>Entity</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="#scenario-relativelaneposition"><span class="std std-ref">RelativeLanePosition</span></a></p></td>
-<td><p>Entity</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="#scenario-relativespeed"><span class="std std-ref">RelativeSpeed</span></a></p></td>
-<td><p>Entity</p></td>
-</tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="#scenario-timetocollision"><span class="std std-ref">TimeToCollision</span></a></p></td>
-<td><p>Entity</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="#scenario-timeheadway"><span class="std std-ref">TimeHeadway</span></a></p></td>
-<td><p>Entity</p></td>
-</tr>
-</tbody>
-</table>
-<div class="section" id="simulationtime">
-<span id="scenario-simulationtime"></span><h6>SimulationTime<a class="headerlink" href="#simulationtime" title="Permalink to this headline">¶</a></h6>
-<p>Defines, when the simulation ends.
-Triggers at a specified time value, given in seconds.
-The rule is required and only <code class="docutils literal notranslate"><span class="pre">greaterThan</span></code> is currently supported.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"EndTime"</span> <span class="na">delay=</span><span class="s">"0"</span> <span class="na">conditionEdge=</span><span class="s">"rising"</span><span class="nt">></span>
- <span class="nt"><ByValueCondition></span>
- <span class="nt"><SimulationTimeCondition</span> <span class="na">value=</span><span class="s">"30.0"</span> <span class="na">rule=</span><span class="s">"greaterThan"</span><span class="nt">/></span>
- <span class="nt"></ByValueCondition></span>
-<span class="nt"></Condition></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="relativelaneposition">
-<span id="scenario-relativelaneposition"></span><h6>RelativeLanePosition<a class="headerlink" href="#relativelaneposition" title="Permalink to this headline">¶</a></h6>
-<p>Triggers if an entity is within a relative lane position with respect to the specified object.
-Here, <em>ds</em> (s-delta) and <em>dLane</em> (lane-delta) are applied to a reference <em>object</em>, e.g. <code class="docutils literal notranslate"><span class="pre">referenceEntity.s</span> <span class="pre">+</span> <span class="pre">ds</span></code>.
-The tolerance is then added and subtracted from the resulting s-coordinate to form a triggering zone.
-The condition is satisfied, if a TriggeringEntity touches this zone.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"RelativeLanePosition"</span><span class="nt">></span>
- <span class="nt"><ByEntityCondition></span>
- <span class="nt"><TriggeringEntities</span> <span class="na">triggeringEntitiesRule=</span><span class="s">"any"</span><span class="nt">></span>
- <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">/></span>
- <span class="nt"></TriggeringEntities></span>
- <span class="nt"><EntityCondition></span>
- <span class="nt"><ReachPositionCondition</span> <span class="na">tolerance=</span><span class="s">"15.0"</span><span class="nt">></span>
- <span class="nt"><Position></span>
- <span class="nt"><RelativeLanePosition</span> <span class="na">entityRef=</span><span class="s">"StandingAgent"</span> <span class="na">dLane=</span><span class="s">"-1"</span> <span class="na">ds=</span><span class="s">"20.0"</span><span class="nt">/></span>
- <span class="nt"></Position></span>
- <span class="nt"></ReachPositionCondition></span>
- <span class="nt"></EntityCondition></span>
- <span class="nt"></ByEntityCondition></span>
-<span class="nt"></Condition></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="roadposition">
-<span id="scenario-roadposition"></span><h6>RoadPosition<a class="headerlink" href="#roadposition" title="Permalink to this headline">¶</a></h6>
-<p>This Condition evaluates if a TriggeringEntity touches a given s-coordinate, <em>s</em>, on a specified road, given by <em>roadId</em>.
-Note that the tolerance is added and subtracted from the s-coordinate to form a triggering zone.
-The condition is satisfied, if a TriggeringEntity touches this zone.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"RoadPosition"</span><span class="nt">></span>
- <span class="nt"><ByEntityCondition></span>
- <span class="nt"><TriggeringEntities</span> <span class="na">triggeringEntitiesRule=</span><span class="s">"any"</span><span class="nt">></span>
- <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">/></span>
- <span class="nt"></TriggeringEntities></span>
- <span class="nt"><EntityCondition></span>
- <span class="nt"><ReachPositionCondition</span> <span class="na">tolerance=</span><span class="s">"3.0"</span><span class="nt">></span>
- <span class="nt"><Position></span>
- <span class="nt"><RoadPosition</span> <span class="na">roadId=</span><span class="s">"0"</span> <span class="na">s=</span><span class="s">"110.0"</span> <span class="na">t=</span><span class="s">"0.0"</span><span class="nt">/></span>
- <span class="nt"></Position></span>
- <span class="nt"></ReachPositionCondition></span>
- <span class="nt"></EntityCondition></span>
- <span class="nt"></ByEntityCondition></span>
-<span class="nt"></Condition></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="relativespeed">
-<span id="scenario-relativespeed"></span><h6>RelativeSpeed<a class="headerlink" href="#relativespeed" title="Permalink to this headline">¶</a></h6>
-<p>This condition evaluates if the relative velocity (<img class="math" src="../../../_images/math/fcf1e10911eacf44f57a43c7f8b190228aba5320.png" alt="v_{rel}"/>) between a TriggeringEntity and a reference entity, is <em>lessThan</em>, <em>equalTo</em>, or <em>greaterThan</em>, a specified value, where <img class="math" src="../../../_images/math/d17927d945626222b572588e9b810bd91a62f7bb.png" alt="v_{rel} = v_{trig} - v_{ref}"/>.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"RelativeSpeed"</span><span class="nt">></span>
- <span class="nt"><ByEntityCondition></span>
- <span class="nt"><TriggeringEntities</span> <span class="na">triggeringEntitiesRule=</span><span class="s">"any"</span><span class="nt">></span>
- <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">/></span>
- <span class="nt"></TriggeringEntities></span>
- <span class="nt"><EntityCondition></span>
- <span class="nt"><RelativeSpeedCondition</span> <span class="na">entityRef=</span><span class="s">"StandingAgent"</span> <span class="na">value=</span><span class="s">"10.0"</span> <span class="na">rule=</span><span class="s">"greaterThan"</span><span class="nt">/></span>
- <span class="nt"></EntityCondition></span>
- <span class="nt"></ByEntityCondition></span>
-<span class="nt"></Condition></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="timetocollision">
-<span id="scenario-timetocollision"></span><h6>TimeToCollision<a class="headerlink" href="#timetocollision" title="Permalink to this headline">¶</a></h6>
-<p>This condition evaluates if the <em>Time To Collision</em> (TTC) between a TriggeringEntity and a reference entity is <em>lessThan</em>, <em>equalTo</em>, or <em>greaterThan</em> a specified value.
-The TTC is determined by projecting the movement of the entities using steps of 0.1 seconds and returning the first time step, at which their bounding boxes intersect.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"TimeToCollision"</span><span class="nt">></span>
- <span class="nt"><ByEntityCondition></span>
- <span class="nt"><TriggeringEntities</span> <span class="na">triggeringEntitiesRule=</span><span class="s">"any"</span><span class="nt">></span>
- <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">/></span>
- <span class="nt"></TriggeringEntities></span>
- <span class="nt"><EntityCondition></span>
- <span class="nt"><TimeToCollisionCondition</span> <span class="na">value=</span><span class="s">"3.0"</span> <span class="na">rule=</span><span class="s">"lessThan"</span><span class="nt">></span>
- <span class="nt"><TimeToCollisionConditionTarget></span>
- <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"StandingAgent"</span><span class="nt">/></span>
- <span class="nt"></TimeToCollisionConditionTarget></span>
- <span class="nt"></TimeToCollisionCondition></span>
- <span class="nt"></EntityCondition></span>
- <span class="nt"></ByEntityCondition></span>
-<span class="nt"></Condition></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="timeheadway">
-<span id="scenario-timeheadway"></span><h6>TimeHeadway<a class="headerlink" href="#timeheadway" title="Permalink to this headline">¶</a></h6>
-<p>This condition evaluates if the <em>Time Headway</em> (THW) between a TriggeringEntity and a reference entity is <em>lessThan</em>, <em>equalTo</em>, or <em>greaterThan</em> a specified value.
-If <code class="docutils literal notranslate"><span class="pre">freespace="true"</span></code> the net distance of the bounding boxes is considered, otherwise the distance of the reference points.
-The <code class="docutils literal notranslate"><span class="pre">alongRoute</span></code> attribute must be <code class="docutils literal notranslate"><span class="pre">true</span></code>.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"TimeHeadway"</span><span class="nt">></span>
- <span class="nt"><ByEntityCondition></span>
- <span class="nt"><TriggeringEntities</span> <span class="na">triggeringEntitiesRule=</span><span class="s">"any"</span><span class="nt">></span>
- <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">/></span>
- <span class="nt"></TriggeringEntities></span>
- <span class="nt"><EntityCondition></span>
- <span class="nt"><TimeHeadwayCondition</span> <span class="na">value=</span><span class="s">"3.0"</span>
- <span class="na">rule=</span><span class="s">"lessThan"</span>
- <span class="na">entityRef=</span><span class="s">"StandingAgent"</span>
- <span class="na">freespace=</span><span class="s">"true"</span>
- <span class="na">alongRoute=</span><span class="s">"true"</span><span class="nt">/></span>
- <span class="nt"></EntityCondition></span>
- <span class="nt"></ByEntityCondition></span>
-<span class="nt"></Condition></span>
-</pre></div>
-</div>
-</div>
-</div>
-<div class="section" id="actions">
-<span id="scenario-actions"></span><h5>Actions<a class="headerlink" href="#actions" title="Permalink to this headline">¶</a></h5>
-<p>Actions define what happens if all conditions of the maneuver are fulfilled and are applied on the actors defined for this maneuver.</p>
-<p>The following openSCENARIO actions are supported:</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#scenario-lanechange"><span class="std std-ref">LaneChange</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-followtrajectory"><span class="std std-ref">Follow Trajectory</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-acquireposition"><span class="std std-ref">Acquire Position</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-removeagent"><span class="std std-ref">Remove Agent</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-speedaction"><span class="std std-ref">SpeedAction</span></a></p></li>
-</ul>
-<p>In addition, the following user defined actions are interpreted:</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#scenario-componentstatechange"><span class="std std-ref">UserDefinedAction: Component State Change</span></a></p></li>
-<li><p><a class="reference internal" href="#scenario-defaultcustomcommandaction"><span class="std std-ref">UsedDefinedAction: DefaultCustomCommandAction</span></a></p></li>
-</ul>
-<div class="admonition-todo admonition" id="id4">
-<p class="admonition-title">Todo</p>
-<p>Write a paragraph about the concept “Trajectories, OSC Actions, and so” in the developer zone.</p>
-</div>
-<div class="section" id="lanechange">
-<span id="scenario-lanechange"></span><h6>LaneChange<a class="headerlink" href="#lanechange" title="Permalink to this headline">¶</a></h6>
-<p>If this action trigger, the actor is forced to perform a trajectory, calculated at the time of triggering.
-The target lane be given either absolute or with respect to another entity.
-The trajectory can either have a fixed length (in s) or a fixed time.</p>
-<p>Currently, “sinusoidal” is the only supported type.</p>
-<p><strong>Example</strong> <em>with absolute target and fixed length</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"LaneChange"</span><span class="nt">></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><LateralAction></span>
- <span class="nt"><LaneChangeAction></span>
- <span class="nt"><LaneChangeActionDynamics</span> <span class="na">value=</span><span class="s">"2.0"</span> <span class="na">dynamicsShape=</span><span class="s">"sinusoidal"</span> <span class="na">dynamicsDimension=</span><span class="s">"time"</span><span class="nt">/></span>
- <span class="nt"><LaneChangeTarget></span>
- <span class="nt"><AbsoluteTargetLane</span> <span class="na">value=</span><span class="s">"-4"</span><span class="nt">/></span>
- <span class="nt"></LaneChangeTarget></span>
- <span class="nt"></LaneChangeAction></span>
- <span class="nt"></LateralAction></span>
- <span class="nt"></PrivateAction></span>
-<span class="nt"></Action></span>
-</pre></div>
-</div>
-<p><strong>Example</strong> <em>with relative target and fixed time</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"LaneChange"</span><span class="nt">></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><LateralAction></span>
- <span class="nt"><LaneChangeAction></span>
- <span class="nt"><LaneChangeActionDynamics</span> <span class="na">value=</span><span class="s">"2.0"</span> <span class="na">dynamicsShape=</span><span class="s">"sinusoidal"</span> <span class="na">dynamicsDimension=</span><span class="s">"time"</span><span class="nt">/></span>
- <span class="nt"><LaneChangeTarget></span>
- <span class="nt"><RelativeTargetLane</span> <span class="na">entityRef=</span><span class="s">"Ego"</span> <span class="na">value=</span><span class="s">"+1"</span><span class="nt">/></span>
- <span class="nt"></LaneChangeTarget></span>
- <span class="nt"></LaneChangeAction></span>
- <span class="nt"></LateralAction></span>
- <span class="nt"></PrivateAction></span>
-<span class="nt"></Action></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="follow-trajectory">
-<span id="scenario-followtrajectory"></span><h6>Follow Trajectory<a class="headerlink" href="#follow-trajectory" title="Permalink to this headline">¶</a></h6>
-<p>If triggered, the defined trajectory is relayed as signal to listening components.
-The trajectory can be defined either directly in the story or as separate TrajectoryCatalog.
-For the points (vertices) of the trajectory only world coordinates, given as <code class="docutils literal notranslate"><span class="pre">openScenario::WorldPosition</span></code>, are supported.
-Right now, the mandatory attributes <em>z</em>, <em>pitch</em> and <em>roll</em> are ignored.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"Trajectory"</span><span class="nt">></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><RoutingAction></span>
- <span class="nt"><FollowTrajectoryAction></span>
- <span class="nt"><Trajectory</span> <span class="na">name=</span><span class="s">"LaneChange"</span> <span class="na">closed=</span><span class="s">"false"</span><span class="nt">></span>
- <span class="nt"><Shape></span>
- <span class="nt"><Polyline></span>
- <span class="nt"><Vertex</span> <span class="na">time=</span><span class="s">"0"</span><span class="nt">></span>
- <span class="nt"><Position></span>
- <span class="nt"><WorldPosition</span> <span class="na">x=</span><span class="s">"100"</span> <span class="na">y=</span><span class="s">"3"</span> <span class="na">z=</span><span class="s">"0"</span> <span class="na">h=</span><span class="s">"1.570796326"</span> <span class="na">p=</span><span class="s">"0"</span> <span class="na">r=</span><span class="s">"0"</span><span class="nt">/></span>
- <span class="nt"></Position></span>
- <span class="nt"></Vertex></span>
- <span class="nt"><Vertex</span> <span class="na">time=</span><span class="s">"5"</span><span class="nt">></span>
- <span class="nt"><Position></span>
- <span class="nt"><WorldPosition</span> <span class="na">x=</span><span class="s">"100"</span> <span class="na">y=</span><span class="s">"8"</span> <span class="na">z=</span><span class="s">"0"</span> <span class="na">h=</span><span class="s">"1.570796326"</span> <span class="na">p=</span><span class="s">"0"</span> <span class="na">r=</span><span class="s">"0"</span><span class="nt">/></span>
- <span class="nt"></Position></span>
- <span class="nt"></Vertex></span>
- <span class="nt"></Polyline></span>
- <span class="nt"></Shape></span>
- <span class="nt"></Trajectory></span>
- <span class="nt"><TimeReference></span>
- <span class="nt"><None/></span>
- <span class="nt"></TimeReference></span>
- <span class="nt"><TrajectoryFollowingMode</span> <span class="na">followingMode=</span><span class="s">"position"</span><span class="nt">/></span>
- <span class="nt"></FollowTrajectoryAction></span>
- <span class="nt"></RoutingAction></span>
- <span class="nt"></PrivateAction></span>
-<span class="nt"></Action></span>
-</pre></div>
-</div>
-<p><strong>Example</strong> <em>using a TrajectoryCatalog</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"FollowTrajectory"</span><span class="nt">></span>
- <span class="nt"><Private></span>
- <span class="nt"><Routing></span>
- <span class="nt"><FollowTrajectoryAction></span>
- <span class="nt"><CatalogReference</span> <span class="na">catalogName=</span><span class="s">"TrajectoryCatalog.xosc"</span> <span class="na">entryName=</span><span class="s">"TrajectoryA"</span><span class="nt">></span>
- <span class="nt"></FollowTrajectoryAction></span>
- <span class="nt"></Routing></span>
- <span class="nt"></Private></span>
-<span class="nt"></Action></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="acquire-position">
-<span id="scenario-acquireposition"></span><h6>Acquire Position<a class="headerlink" href="#acquire-position" title="Permalink to this headline">¶</a></h6>
-<p>If triggered, the defined position is relayed as signal to listening components.
-Currently only “WorldPosition” and “RelativeObjectPosition” are supported.</p>
-<p><strong>Example</strong> <em>(WorldPosition)</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"AcquirePosition"</span><span class="nt">></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><RoutingAction></span>
- <span class="nt"><AcquirePositionAction></span>
- <span class="nt"><Position></span>
- <span class="nt"><WorldPosition</span> <span class="na">x=</span><span class="s">"1.0"</span> <span class="na">y=</span><span class="s">"2.0"</span> <span class="na">z=</span><span class="s">"0.0"</span> <span class="na">h=</span><span class="s">"3.1415"</span> <span class="na">p=</span><span class="s">"0.0"</span> <span class="na">r=</span><span class="s">"0.0"</span> <span class="nt">/></span>
- <span class="nt"></Position></span>
- <span class="nt"></AcquirePositionAction></span>
- <span class="nt"></RoutingAction></span>
- <span class="nt"></PrivateAction></span>
-<span class="nt"></Action></span>
-</pre></div>
-</div>
-<p><strong>Example</strong> <em>(RelativeObjectPosition)</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"AcquirePosition"</span><span class="nt">></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><RoutingAction></span>
- <span class="nt"><AcquirePositionAction></span>
- <span class="nt"><Position></span>
- <span class="nt"><RelativeObjectPosition</span> <span class="na">dx=</span><span class="s">"1.0"</span> <span class="na">dy=</span><span class="s">"1.0"</span> <span class="na">entityRef=</span><span class="s">"S1"</span><span class="nt">/></span>
- <span class="nt"></Position></span>
- <span class="nt"></AcquirePositionAction></span>
- <span class="nt"></RoutingAction></span>
- <span class="nt"></PrivateAction></span>
-<span class="nt"></Action></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="remove-agent">
-<span id="scenario-removeagent"></span><h6>Remove Agent<a class="headerlink" href="#remove-agent" title="Permalink to this headline">¶</a></h6>
-<p>The RemoveAgentsManipulator removes the specified entity at the time of triggering.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"RemoveAgents"</span><span class="nt">></span>
- <span class="nt"><GlobalAction></span>
- <span class="nt"><EntityAction</span> <span class="na">entityRef=</span><span class="s">""</span><span class="nt">></span>
- <span class="nt"><DeleteEntityAction/></span>
- <span class="nt"></EntityAction></span>
- <span class="nt"></GlobalAction></span>
-<span class="nt"></Action></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="speedaction">
-<span id="scenario-speedaction"></span><h6>SpeedAction<a class="headerlink" href="#speedaction" title="Permalink to this headline">¶</a></h6>
-<p>The SpeedAction adjusts the velocity of an entity based on parameters of the SpeedAction.
-Both variants, “RelativeTargetSpeed” and “AbsoluteTargetSpeed”, are supported, but with restrictions:</p>
-<ul class="simple">
-<li><p>The SpeedActionDynamics attribute “dynamicsShape” only supports “linear” and “step”.</p></li>
-<li><p>The SpeedActionDynamics attribute “dynamicsDimension” only supports “rate”.</p></li>
-<li><p>The RelativeTargetSpeed attribute “continuous” is ignored.</p></li>
-</ul>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Values defined in the SpeedAction might not reflect actual values used by the simulator due to physical boundaries of the simulator.</p>
-</div>
-<p><strong>Example</strong> <em>AbsoulteTargetSpeed</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"SpeedAction"</span><span class="nt">></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><LongitudinalAction></span>
- <span class="nt"><SpeedAction></span>
- <span class="nt"><SpeedActionDynamics</span> <span class="na">dynamicsShape=</span><span class="s">"step"</span> <span class="na">value=</span><span class="s">"0.0"</span> <span class="na">dynamicsDimension=</span><span class="s">"rate"</span><span class="nt">/></span>
- <span class="nt"><SpeedActionTarget></span>
- <span class="nt"><AbsoluteTargetSpeed</span> <span class="na">value=</span><span class="s">"20"</span><span class="nt">/></span>
- <span class="nt"></SpeedActionTarget></span>
- <span class="nt"></SpeedAction></span>
- <span class="nt"></LongitudinalAction></span>
- <span class="nt"></PrivateAction></span>
-<span class="nt"></Action></span>
-</pre></div>
-</div>
-<p><strong>Example</strong> <em>RelativeTargetSpeed</em></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"SpeedAction"</span><span class="nt">></span>
- <span class="nt"><PrivateAction></span>
- <span class="nt"><LongitudinalAction></span>
- <span class="nt"><SpeedAction></span>
- <span class="nt"><SpeedActionDynamics</span> <span class="na">dynamicsShape=</span><span class="s">"step"</span> <span class="na">value=</span><span class="s">"0.0"</span> <span class="na">dynamicsDimension=</span><span class="s">"rate"</span><span class="nt">/></span>
- <span class="nt"><SpeedActionTarget></span>
- <span class="nt"><RelativeTargetSpeed</span> <span class="na">entityRef=</span><span class="s">"ScenarioAgent"</span> <span class="na">value=</span><span class="s">"10"</span>
- <span class="na">speedTargetValueType=</span><span class="s">"delta"</span> <span class="na">continuous=</span><span class="s">"false"</span><span class="nt">/></span>
- <span class="nt"></SpeedActionTarget></span>
- <span class="nt"></SpeedAction></span>
- <span class="nt"></LongitudinalAction></span>
- <span class="nt"></PrivateAction></span>
-<span class="nt"></Action></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="useddefinedaction-defaultcustomcommandaction">
-<span id="scenario-defaultcustomcommandaction"></span><h6>UsedDefinedAction: DefaultCustomCommandAction<a class="headerlink" href="#useddefinedaction-defaultcustomcommandaction" title="Permalink to this headline">¶</a></h6>
-<div class="admonition-todo admonition" id="id5">
-<p class="admonition-title">Todo</p>
-<p>Write a paragraph in the developer zone about the concept “wrapping FMUs” and the “OSMP FMU”</p>
-</div>
-<p>This is <strong>the</strong> default custom command, and is always selected, if <strong>the first WORD</strong> (Keyword) in the command string is <strong>not</strong> registered as a special custom command.</p>
-<p>The <code class="docutils literal notranslate"><span class="pre">DefaultCustomCommandAction</span></code> adds an event to the <code class="docutils literal notranslate"><span class="pre">EventNetwork</span></code>, which is relayed as a string (<code class="docutils literal notranslate"><span class="pre">StringSignal</span></code>) by the component``OSCActions``.</p>
-<div class="admonition-fmu-wrapper-component-for-osmp-messages-only admonition">
-<p class="admonition-title">FMU_Wrapper component for OSMP messages only</p>
-<p>The linked string signal is set as custom action of the TrafficCommand.</p>
-</div>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"CustomParameters"</span><span class="nt">></span>
- <span class="nt"><UserDefinedAction></span>
- <span class="nt"><CustomCommandAction></span>Arbitrary String, e.g. { "hello": "world"}<span class="nt"></CustomCommandAction></span>
- <span class="nt"></UserDefinedAction></span>
-<span class="nt"></Action></span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Here, “Arbitrary” is first checked, if it matches any other available Keyword for used defined actions, such as <a class="reference internal" href="#scenario-componentstatechange"><span class="std std-ref">UserDefinedAction: Component State Change</span></a>.</p>
-</div>
-</div>
-<div class="section" id="userdefinedaction-component-state-change">
-<span id="scenario-componentstatechange"></span><h6>UserDefinedAction: Component State Change<a class="headerlink" href="#userdefinedaction-component-state-change" title="Permalink to this headline">¶</a></h6>
-<p>Command Keyword: SetComponentState</p>
-<div class="admonition-todo admonition" id="id6">
-<p class="admonition-title">Todo</p>
-<p>Write a paragraph in the developer zone about the concept “Component State Change”</p>
-</div>
-<p>The ComponentStateChangeManipulator influences the maximum reachable state of an agent component that is handled by the ComponentController, i.e. it can either activate or deactivate a component.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"ComponentStateChange"</span><span class="nt">></span>
- <span class="nt"><UserDefinedAction></span>
- <span class="nt"><CustomCommandAction></span>SetComponentState Dynamics_TrajectoryFollower Acting<span class="nt"></CustomCommandAction></span>
- <span class="nt"></UserDefinedAction></span>
-<span class="nt"></Action></span>
-</pre></div>
-</div>
-</div>
-</div>
-</div>
-</div>
-<div class="section" id="stoptrigger">
-<span id="scenario-stoptrigger"></span><h3>StopTrigger<a class="headerlink" href="#stoptrigger" title="Permalink to this headline">¶</a></h3>
-<p>Here, end conditions for the simulation are defined.</p>
-<p>Right now, only SimulationTime is supported, given in seconds, with the fixed <code class="docutils literal notranslate"><span class="pre">rule="greaterThan"</span></code>.</p>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><StopTrigger></span>
- <span class="nt"><ConditionGroup></span>
- <span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"EndTime"</span> <span class="na">delay=</span><span class="s">"0"</span> <span class="na">conditionEdge=</span><span class="s">"rising"</span><span class="nt">></span>
- <span class="nt"><ByValueCondition></span>
- <span class="nt"><SimulationTimeCondition</span> <span class="na">value=</span><span class="s">"30.0"</span> <span class="na">rule=</span><span class="s">"greaterThan"</span><span class="nt">/></span>
- <span class="nt"></ByValueCondition></span>
- <span class="nt"></Condition></span>
- <span class="nt"></ConditionGroup></span>
- <span class="nt"></StopTrigger></span>
-</pre></div>
-</div>
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+ <div class="section" id="scenario">
+<span id="id1"></span><h1>Scenario<a class="headerlink" href="#scenario" title="Permalink to this headline">¶</a></h1>
+<div class="section" id="overview">
+<span id="scenario-overview"></span><h2>Overview<a class="headerlink" href="#overview" title="Permalink to this headline">¶</a></h2>
+<p>The scenario configuration file describes all dynamic configuration of a simulation run, i.e. the position of an agent as well as conditional events that alter the behavior of the simulation during the run.
+It adheres to the <strong>ASAM OpenSCENARIO 1.0</strong> standard, although we support only a subset of the features of the standard.</p>
+<p>The different parts of the scenario configuration are described in the following chapters.</p>
+</div>
+<div class="section" id="parameterdeclarations">
+<span id="scenario-parameterdeclaration"></span><h2>ParameterDeclarations<a class="headerlink" href="#parameterdeclarations" title="Permalink to this headline">¶</a></h2>
+<p>The tag <code class="docutils literal notranslate"><span class="pre">ParameterDeclarations</span></code> allow to define generic parameters, which can be referenced later the file by its name, prefixed with <code class="docutils literal notranslate"><span class="pre">$</span></code>.</p>
+<p><strong>Example declaration</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ParameterDeclarations></span>
+ <span class="nt"><ParameterDeclaration</span> <span class="na">name=</span><span class="s">"OP_OSC_SchemaVersion"</span> <span class="na">parameterType=</span><span class="s">"string"</span> <span class="na">value=</span><span class="s">"0.4.0"</span><span class="nt">/></span>
+<span class="nt"></ParameterDeclarations></span>
+</pre></div>
+</div>
+<p><strong>Example usage</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><SimulationTimeCondition</span> <span class="na">value=</span><span class="s">"30.0"</span> <span class="na">rule=</span><span class="s">"greaterThan"</span><span class="nt">/></span>
+</pre></div>
+</div>
+<p><strong>Supported parameterTypes</strong></p>
+<ul class="simple">
+<li><p>string</p></li>
+<li><p>integer</p></li>
+<li><p>double</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Only <code class="docutils literal notranslate"><span class="pre">string</span></code> allows empty values.</p>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>The parameter <code class="docutils literal notranslate"><span class="pre">OP_OSC_SchemaVersion</span></code> is used to check for schema compatibility and is mandatory within <strong>openPASS</strong>.</p>
+</div>
+</div>
+<div class="section" id="catalogs">
+<span id="scenario-catalogs"></span><h2>Catalogs<a class="headerlink" href="#catalogs" title="Permalink to this headline">¶</a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">Catalogs</span></code> tag defines references to various other files containing sub features of OpenSCENARIO (and written in the same format).</p>
+<p>The following catalogs interpreted:</p>
+<ul class="simple">
+<li><p>Mandatory: <a class="reference internal" href="#scenario-vehiclemodels"><span class="std std-ref">VehicleCatalog</span></a></p></li>
+<li><p>Mandatory: <a class="reference internal" href="#scenario-pedestrianmodels"><span class="std std-ref">PedestrianCatalog</span></a></p></li>
+<li><p>Optional: TrajectoryCatalog for the case that a <em>FollowTrajectory action</em> is defined</p></li>
+</ul>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><CatalogLocations></span>
+ <span class="nt"><VehicleCatalog></span>
+ <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">"VehicleModelsCatalog.xosc"</span><span class="nt">/></span>
+ <span class="nt"></VehicleCatalog></span>
+ <span class="nt"><PedestrianCatalog></span>
+ <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">"PedestrianModelsCatalog.xosc"</span><span class="nt">/></span>
+ <span class="nt"></PedestrianCatalog></span>
+ <span class="nt"><ControllerCatalog></span>
+ <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
+ <span class="nt"></ControllerCatalog></span>
+ <span class="nt"><ManeuverCatalog></span>
+ <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
+ <span class="nt"></ManeuverCatalog></span>
+ <span class="nt"><MiscObjectCatalog></span>
+ <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
+ <span class="nt"></MiscObjectCatalog></span>
+ <span class="nt"><EnvironmentCatalog></span>
+ <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
+ <span class="nt"></EnvironmentCatalog></span>
+ <span class="nt"><TrajectoryCatalog></span>
+ <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
+ <span class="nt"></TrajectoryCatalog></span>
+ <span class="nt"><RouteCatalog></span>
+ <span class="nt"><Directory</span> <span class="na">path=</span><span class="s">""</span><span class="nt">/></span>
+ <span class="nt"></RouteCatalog></span>
+<span class="nt"></CatalogLocations></span>
+</pre></div>
+</div>
+<div class="section" id="vehiclecatalog">
+<span id="scenario-vehiclemodels"></span><h3>VehicleCatalog<a class="headerlink" href="#vehiclecatalog" title="Permalink to this headline">¶</a></h3>
+<p>This file is mandatory.
+It contains the available vehicle models for the simulation.
+For each vehicle the physical parameters are stored here.</p>
+<p><strong>Supported models:</strong></p>
+<ul class="simple">
+<li><p>car_bmw_i3</p></li>
+<li><p>car_bmw_3</p></li>
+<li><p>car_bmw_7_1</p></li>
+<li><p>car_bmw_7_2</p></li>
+<li><p>car_mini_cooper</p></li>
+<li><p>bus</p></li>
+<li><p>truck</p></li>
+<li><p>bicycle</p></li>
+</ul>
+<p><strong>Full Example:</strong> <a class="reference download internal" download="" href="../../_downloads/bc0ffd4f4913ee64271fcfbe312d1f55/VehicleModelsCatalog.xosc"><code class="xref download docutils literal notranslate"><span class="pre">/../../../repo/sim/contrib/examples/Common/VehicleModelsCatalog.xosc</span></code></a></p>
+</div>
+<div class="section" id="pedestriancatalog">
+<span id="scenario-pedestrianmodels"></span><h3>PedestrianCatalog<a class="headerlink" href="#pedestriancatalog" title="Permalink to this headline">¶</a></h3>
+<p>This file is mandatory.
+It contains the available pedestrian models for the simulation.
+For each pedestrian the physical parameters are stored here.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently, pedestrian models are internally handled the same way as vehicle models, i.e. they behave like simplified vehicles.
+For convenience, <strong>openPASS</strong> internally sets <em>meaningless</em> parameters, such as <em>number of gears</em>, to operational defaults.</p>
+</div>
+<p><strong>Supported models:</strong></p>
+<ul class="simple">
+<li><p>pedestrian_child</p></li>
+<li><p>pedestrian_adult</p></li>
+</ul>
+<p><strong>Full Example:</strong> <a class="reference download internal" download="" href="../../_downloads/459c8430e19638f5201d47052051994a/PedestrianModelsCatalog.xosc"><code class="xref download docutils literal notranslate"><span class="pre">/../../../repo/sim/contrib/examples/Common/PedestrianModelsCatalog.xosc</span></code></a></p>
+</div>
+</div>
+<div class="section" id="roadnetwork">
+<span id="scenario-roadnetwork"></span><h2>RoadNetwork<a class="headerlink" href="#roadnetwork" title="Permalink to this headline">¶</a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">RoadNetwork</span></code> tag contains the mandatory reference to the OpenDRIVE <a class="reference internal" href="scenery.html#scenery"><span class="std std-ref">Scenery</span></a>.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><RoadNetwork></span>
+ <span class="nt"><LogicFile</span> <span class="na">filepath=</span><span class="s">"SceneryConfiguration.xodr"</span><span class="nt">/></span>
+ <span class="nt"><SceneGraphFile</span> <span class="na">filepath=</span><span class="s">""</span><span class="nt">/></span>
+<span class="nt"></RoadNetwork></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="entities">
+<span id="scenario-entities"></span><h2>Entities<a class="headerlink" href="#entities" title="Permalink to this headline">¶</a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">Entities</span></code> tag defines all agents that are present at the start of the simulation at predefined positions.
+There may be any number of these so called <strong>Scenario Agents</strong> (also zero).
+Each entity is described by a name and a reference to a vehicle profile within the <a class="reference internal" href="profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This deviates from the OpenSCENARIO standard.</p>
+</div>
+<div class="admonition-todo admonition" id="id2">
+<p class="admonition-title">Todo</p>
+<p>In what way do scenario agents deviate from the standard?</p>
+</div>
+<p>To specify an entity as the <strong>Ego Agent</strong>, the it must be named “Ego”.</p>
+<p>Entities can also be grouped into selections.</p>
+<div class="admonition-todo admonition" id="id3">
+<p class="admonition-title">Todo</p>
+<p>What is an EntitySelection?</p>
+</div>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Entities></span>
+ <span class="nt"><ScenarioObject</span> <span class="na">name=</span><span class="s">"Ego"</span><span class="nt">></span>
+ <span class="nt"><CatalogReference</span> <span class="na">catalogName=</span><span class="s">"ProfilesCatalog.xml"</span> <span class="na">entryName=</span><span class="s">"MiddleClassCarAgent"</span><span class="nt">/></span>
+ <span class="nt"></ScenarioObject></span>
+ <span class="nt"><EntitySelection</span> <span class="na">name=</span><span class="s">"ScenarioAgents"</span><span class="nt">></span>
+ <span class="nt"><Members/></span>
+ <span class="nt"></EntitySelection></span>
+<span class="nt"></Entities></span>
+</pre></div>
+</div>
+<p><strong>Overriding Parameters</strong></p>
+<p>Parameters defined in the VehicleCatalog can be assigned inside the CatalogReference element.
+In this case the assigned parameter will overwrite the definition in the VehicleCatalog.
+Otherwise the value defined in the VehicleCatalog is used.
+The type of the parameter must match that in the VehicleCatalog.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><CatalogReference</span> <span class="na">catalogName=</span><span class="s">"ProfilesCatalog.xml"</span> <span class="na">entryName=</span><span class="s">"MiddleClassCarAgent"</span><span class="nt">></span>
+ <span class="nt"><ParameterAssignments></span>
+ <span class="nt"><ParameterAssignment</span> <span class="na">parameterRef=</span><span class="s">"Length"</span> <span class="na">value=</span><span class="s">"4.0"</span> <span class="nt">/></span>
+ <span class="nt"></ParameterAssignments></span>
+<span class="nt"></CatalogReference></span>
+</pre></div>
+</div>
+<div class="admonition-agentprofile-vs-vehiclemodel admonition">
+<p class="admonition-title">AgentProfile vs. VehicleModel</p>
+<p><strong>OpenPASS</strong> references AgentProfiles instead of a VehicleModels.
+Such an AgentProfile may have a stochastic distribution of different VehicleModels, each with potentially different parameters.
+After the random selection of the vehicle model, some parameters may not be available and are therefore not assigned (ignored).</p>
+</div>
+</div>
+<div class="section" id="storyboard">
+<span id="scenario-storyboard"></span><h2>Storyboard<a class="headerlink" href="#storyboard" title="Permalink to this headline">¶</a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">Storyboard</span></code> tag contains the initial setup of the scenario and manipulator actions.
+These actions control the behavior of the simulation at runtime based on predefined conditions.</p>
+<div class="section" id="init">
+<span id="scenario-init"></span><h3>Init<a class="headerlink" href="#init" title="Permalink to this headline">¶</a></h3>
+<p>The content of the <code class="docutils literal notranslate"><span class="pre">Init</span></code> tag is forwarded to the SpawnPoint and define <em>if</em> and <em>where</em> it should place the ego and scenario agents.
+The position can either be defined as global coordinates (x and y) with the <code class="docutils literal notranslate"><span class="pre">World</span></code> tag or as lane coordinates (s and t) with the <code class="docutils literal notranslate"><span class="pre">Lane</span></code> tag.</p>
+<p>The schema is defined as follows:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 26%" />
+<col style="width: 24%" />
+<col style="width: 32%" />
+<col style="width: 18%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Parent</p></th>
+<th class="head"><p>Attributes</p></th>
+<th class="head"><p>Occurrences</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Actions</p></td>
+<td><p>Init</p></td>
+<td><p><em>none</em></p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-odd"><td><p>Private</p></td>
+<td><p>Actions</p></td>
+<td><p>entityRef</p></td>
+<td><p>1 per entity</p></td>
+</tr>
+<tr class="row-even"><td><p>PrivateAction</p></td>
+<td><p>Private</p></td>
+<td><p><em>none</em></p></td>
+<td><p>1+</p></td>
+</tr>
+<tr class="row-odd"><td><p>TeleportAction</p></td>
+<td><p>PrivateAction</p></td>
+<td><p><em>none</em></p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-even"><td><p>Position</p></td>
+<td><p>TeleportAction</p></td>
+<td><p><em>none</em></p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-odd"><td><p>LanePosition</p></td>
+<td><p>Position</p></td>
+<td><p>roadId, laneId, s, offset</p></td>
+<td><p>0 or 1</p></td>
+</tr>
+<tr class="row-even"><td><p>WorldPosition</p></td>
+<td><p>Position</p></td>
+<td><p>x, y, h</p></td>
+<td><p>0 or 1</p></td>
+</tr>
+<tr class="row-odd"><td><p>Orientation</p></td>
+<td><p>LanePosition</p></td>
+<td><p>type, h</p></td>
+<td><p>0 or 1</p></td>
+</tr>
+<tr class="row-even"><td><p>LongitudinalAction</p></td>
+<td><p>PrivateAction</p></td>
+<td><p><em>none</em></p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-odd"><td><p>SpeedAction</p></td>
+<td><p>LongitudinalAction</p></td>
+<td><p><em>none</em></p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-even"><td><p>SpeedActionDynamics</p></td>
+<td><p>SpeedAction</p></td>
+<td><p>rate, dynamicsShape</p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-odd"><td><p>SpeedActionTarget</p></td>
+<td><p>SpeedAction</p></td>
+<td><p><em>none</em></p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-even"><td><p>AbsoluteTargetSpeed</p></td>
+<td><p>SpeedActionTarget</p></td>
+<td><p>value</p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-odd"><td><p>RoutingAction</p></td>
+<td><p>PrivateAction</p></td>
+<td><p><em>none</em></p></td>
+<td><p>0 or 1</p></td>
+</tr>
+<tr class="row-even"><td><p>AssignRouteAction</p></td>
+<td><p>RoutingAction</p></td>
+<td><p><em>none</em></p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-odd"><td><p>Route</p></td>
+<td><p>AssignRouteAction</p></td>
+<td><p><em>none</em></p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-even"><td><p>Waypoint</p></td>
+<td><p>Route</p></td>
+<td><p><em>none</em></p></td>
+<td><p>1+</p></td>
+</tr>
+<tr class="row-odd"><td><p>Position</p></td>
+<td><p>Waypoint</p></td>
+<td><p><em>none</em></p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-even"><td><p>RoadPosition</p></td>
+<td><p>Position</p></td>
+<td><p>roadId, t</p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-odd"><td><p>VisibilityAction</p></td>
+<td><p>PrivateAction</p></td>
+<td><p>traffic</p></td>
+<td><p>1</p></td>
+</tr>
+</tbody>
+</table>
+<p>All listed attributes are required.
+The attributes have the following meaning:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 15%" />
+<col style="width: 14%" />
+<col style="width: 71%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Private</p></td>
+<td><p>entityRef</p></td>
+<td><p>name of the entity for which the initial values are described in the sub-tags</p></td>
+</tr>
+<tr class="row-odd"><td><p>LanePosition</p></td>
+<td><p>roadId</p></td>
+<td><p>Id of the road in the Scenery</p></td>
+</tr>
+<tr class="row-even"><td><p>LanePosition</p></td>
+<td><p>laneId</p></td>
+<td><p>Id of the lane in the Scenery</p></td>
+</tr>
+<tr class="row-odd"><td><p>LanePosition</p></td>
+<td><p>s</p></td>
+<td><p>start position on the lane (i.e. distance from the start of the road) of the reference point</p></td>
+</tr>
+<tr class="row-even"><td><p>LanePosition</p></td>
+<td><p>offset</p></td>
+<td><p>lateral distance of the reference point to the middle of the road (i.e. t coordinate)</p></td>
+</tr>
+<tr class="row-odd"><td><p>WorldPosition</p></td>
+<td><p>x</p></td>
+<td><p>x coordinate of the reference point</p></td>
+</tr>
+<tr class="row-even"><td><p>WorldPosition</p></td>
+<td><p>y</p></td>
+<td><p>y coordinate of the reference point</p></td>
+</tr>
+<tr class="row-odd"><td><p>WorldPosition</p></td>
+<td><p>h</p></td>
+<td><p>heading</p></td>
+</tr>
+<tr class="row-even"><td><p>Orientation</p></td>
+<td><p>type</p></td>
+<td><p>has to be “relative”</p></td>
+</tr>
+<tr class="row-odd"><td><p>Orientation</p></td>
+<td><p>h</p></td>
+<td><p>heading angle in radiant relative to the lane</p></td>
+</tr>
+<tr class="row-even"><td><p>SpeedActionDynamics</p></td>
+<td><p>rate</p></td>
+<td><p>acceleration</p></td>
+</tr>
+<tr class="row-odd"><td><p>SpeedActionDynamics</p></td>
+<td><p>dynamicsShape</p></td>
+<td><p>“linear” for constant acceleration, “step” for immediate transition</p></td>
+</tr>
+<tr class="row-even"><td><p>SpeedActionDynamics</p></td>
+<td><p>dynamicsDimension</p></td>
+<td><p>has to be “rate”</p></td>
+</tr>
+<tr class="row-odd"><td><p>AbsoluteTargetSpeed</p></td>
+<td><p>value</p></td>
+<td><p>velocity</p></td>
+</tr>
+<tr class="row-even"><td><p>RoadPosition</p></td>
+<td><p>roadId</p></td>
+<td><p>Id of the road in the Scenery</p></td>
+</tr>
+<tr class="row-odd"><td><p>RoadPosition</p></td>
+<td><p>t</p></td>
+<td><p>negative for driving in roadDirection (i.e on lanes with negative Id) else positive</p></td>
+</tr>
+<tr class="row-even"><td><p>RoadPosition</p></td>
+<td><p>s</p></td>
+<td><p>ignored</p></td>
+</tr>
+<tr class="row-odd"><td><p>VisibilityAction</p></td>
+<td><p>traffic</p></td>
+<td><p>Flag deciding if the scenario agent will be spawned (true = spawned, false = not spawned)</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Defining a Position</strong></p>
+<p><strong>OpenPASS</strong> only supports <code class="docutils literal notranslate"><span class="pre">LanePosition</span></code> and <code class="docutils literal notranslate"><span class="pre">WorldPosition</span></code> from the OpenSCENARIO standard.</p>
+<p><strong>Controlling Visibility</strong></p>
+<p>VisibilityAction is an optional attribute, which allows easy parameterization of certain entities, e.g. via <a class="reference internal" href="#scenario-parameterdeclaration"><span class="std std-ref">ParameterDeclarations</span></a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If VisibilityAction <strong>is not defined</strong> the according entity agent <strong>will be spawned</strong>.</p>
+</div>
+<p><strong>Stochastic Values</strong></p>
+<p>Unlike OpenSCENARIO, <strong>openPASS</strong> allows some of the aforementioned values to be stochastic.
+This is achieved by using the sub-tag <code class="docutils literal notranslate"><span class="pre">Stochastics</span></code> within the tags <code class="docutils literal notranslate"><span class="pre">LanePosition</span></code> or <code class="docutils literal notranslate"><span class="pre">SpeedAction</span></code>:</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Stochastics</span> <span class="na">value=</span><span class="s">"..."</span> <span class="na">stdDeviation=</span><span class="s">"..."</span> <span class="na">lowerBound=</span><span class="s">"..."</span> <span class="na">upperBound=</span><span class="s">"..."</span><span class="nt">/></span>
+</pre></div>
+</div>
+<p>The stochastics tag normally defines a normal distribution, but it is up to each component to interpret its values.
+Here, value is a selector, which can be either <code class="docutils literal notranslate"><span class="pre">s</span></code>, <code class="docutils literal notranslate"><span class="pre">offset</span></code> (if inside LanePosition), <code class="docutils literal notranslate"><span class="pre">velocity</span></code> or <code class="docutils literal notranslate"><span class="pre">rate</span></code> (if inside SpeedAction).
+Depending on the selected type, the actual mean value is then taken from the attribute of the corresponding tag <code class="docutils literal notranslate"><span class="pre">LanePosition</span></code>, <code class="docutils literal notranslate"><span class="pre">SpeedActionDynamics</span></code>, or <code class="docutils literal notranslate"><span class="pre">AbsoluteTargetSpeed</span></code>.</p>
+<p><strong>Full Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Init></span>
+ <span class="nt"><Actions></span>
+ <span class="nt"><Private</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><TeleportAction></span>
+ <span class="nt"><Position></span>
+ <span class="nt"><LanePosition</span> <span class="na">roadId=</span><span class="s">"1"</span> <span class="na">s=</span><span class="s">"20.0"</span> <span class="na">laneId=</span><span class="s">"-2"</span> <span class="na">offset=</span><span class="s">"0.0"</span><span class="nt">></span>
+ <span class="nt"><Orientation</span> <span class="na">type=</span><span class="s">"relative"</span> <span class="na">h=</span><span class="s">"0.2"</span><span class="nt">/></span>
+ <span class="nt"><Stochastics</span> <span class="na">value=</span><span class="s">"s"</span> <span class="na">stdDeviation=</span><span class="s">"5.0"</span> <span class="na">lowerBound=</span><span class="s">"10.0"</span>
+ <span class="na">upperBound=</span><span class="s">"30.0"</span><span class="nt">/></span>
+ <span class="nt"></LanePosition></span>
+ <span class="nt"></Position></span>
+ <span class="nt"></TeleportAction></span>
+ <span class="nt"></PrivateAction></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><LongitudinalAction></span>
+ <span class="nt"><SpeedAction></span>
+ <span class="nt"><SpeedActionDynamics</span> <span class="na">rate=</span><span class="s">"0.0"</span> <span class="na">dynamicsShape=</span><span class="s">"linear"</span>
+ <span class="na">dynamicsDimension=</span><span class="s">"rate"</span><span class="nt">/></span>
+ <span class="nt"><SpeedActionTarget></span>
+ <span class="nt"><AbsoluteTargetSpeed</span> <span class="na">value=</span><span class="s">"10.0"</span> <span class="nt">/></span>
+ <span class="nt"></SpeedActionTarget></span>
+ <span class="nt"><Stochastics</span> <span class="na">value=</span><span class="s">"velocity"</span> <span class="na">stdDeviation=</span><span class="s">"2.0"</span> <span class="na">lowerBound=</span><span class="s">"5.0"</span>
+ <span class="na">upperBound=</span><span class="s">"15.0"</span><span class="nt">/></span>
+ <span class="nt"></SpeedAction></span>
+ <span class="nt"></LongitudinalAction></span>
+ <span class="nt"></PrivateAction></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><RoutingAction></span>
+ <span class="nt"><AssignRouteAction></span>
+ <span class="nt"><Route></span>
+ <span class="nt"><Waypoint></span>
+ <span class="nt"><Position></span>
+ <span class="nt"><RoadPosition</span> <span class="na">roadId=</span><span class="s">"1"</span> <span class="na">t=</span><span class="s">"-1.0"</span> <span class="na">s=</span><span class="s">"0"</span><span class="nt">/></span>
+ <span class="nt"></Position></span>
+ <span class="nt"></Waypoint></span>
+ <span class="nt"><Waypoint></span>
+ <span class="nt"><Position></span>
+ <span class="nt"><RoadPosition</span> <span class="na">roadId=</span><span class="s">"2"</span> <span class="na">t=</span><span class="s">"-1.0"</span> <span class="na">s=</span><span class="s">"0"</span><span class="nt">/></span>
+ <span class="nt"></Position></span>
+ <span class="nt"></Waypoint></span>
+ <span class="nt"></Route></span>
+ <span class="nt"></AssignRouteAction></span>
+ <span class="nt"></RoutingAction></span>
+ <span class="nt"></PrivateAction></span>
+ <span class="nt"></Private></span>
+ <span class="nt"><Private</span> <span class="na">entityRef=</span><span class="s">"ScenarioAgent"</span><span class="nt">></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><TeleportAction></span>
+ <span class="nt"><Position></span>
+ <span class="nt"><LanePosition</span> <span class="na">roadId=</span><span class="s">"1"</span> <span class="na">s=</span><span class="s">"50.0"</span> <span class="na">laneId=</span><span class="s">"-3"</span> <span class="na">offset=</span><span class="s">"0.0"</span><span class="nt">/></span>
+ <span class="nt"></Position></span>
+ <span class="nt"></TeleportAction></span>
+ <span class="nt"></PrivateAction></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><LongitudinalAction></span>
+ <span class="nt"><SpeedAction></span>
+ <span class="nt"><SpeedActionDynamics</span> <span class="na">rate=</span><span class="s">"0.0"</span> <span class="na">dynamicsShape=</span><span class="s">"linear"</span>
+ <span class="na">dynamicsDimension=</span><span class="s">"rate"</span><span class="nt">/></span>
+ <span class="nt"><SpeedActionTarget></span>
+ <span class="nt"><AbsoluteTargetSpeed</span> <span class="na">value=</span><span class="s">"10.0"</span> <span class="nt">/></span>
+ <span class="nt"></SpeedActionTarget></span>
+ <span class="nt"></SpeedAction></span>
+ <span class="nt"></LongitudinalAction></span>
+ <span class="nt"></PrivateAction></span>
+ <span class="nt"></Private></span>
+ <span class="nt"></Actions></span>
+<span class="nt"></Init></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="story">
+<span id="scenario-story"></span><h3>Story<a class="headerlink" href="#story" title="Permalink to this headline">¶</a></h3>
+<p>The tag <code class="docutils literal notranslate"><span class="pre">Story</span></code> is optional and defines all conditional interventions during runtime.
+The story consists of multiple acts, which itself can consist of multiple <code class="docutils literal notranslate"><span class="pre">ManeuverGroup</span></code> tags.
+A maneuver groups must consist of exactly one <code class="docutils literal notranslate"><span class="pre">Actors</span></code> tag and one <code class="docutils literal notranslate"><span class="pre">Maneuver</span></code> tag.
+The <code class="docutils literal notranslate"><span class="pre">maximumExecutionCount</span></code> attribute states the maximum number of times that each maneuver will by triggered.
+To trigger an maneuver for an unlimited number of times, set the value to <code class="docutils literal notranslate"><span class="pre">-1,</span></code>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>While multiple stories can be added, grouping of maneuver groups into acts currently has no effect in the simulator.</p>
+</div>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Story</span> <span class="na">name=</span><span class="s">"MyStory"</span><span class="nt">></span>
+ <span class="nt"><Act</span> <span class="na">name=</span><span class="s">"Act1"</span><span class="nt">></span>
+ <span class="nt"><ManeuverGroup</span> <span class="na">name=</span><span class="s">"MySequence"</span> <span class="na">maximumExecutionCount=</span><span class="s">"-1"</span><span class="nt">></span>
+ <span class="nt"><Actors></span>
+ ...
+ <span class="nt"></Actors></span>
+ <span class="nt"><Maneuver</span> <span class="na">name=</span><span class="s">"MyManeuver"</span><span class="nt">></span>
+ ...
+ <span class="nt"></Maneuver></span>
+ <span class="nt"></ManeuverGroup></span>
+ <span class="nt"></Act></span>
+<span class="nt"></Story></span>
+</pre></div>
+</div>
+<div class="section" id="actors">
+<span id="scenario-actors"></span><h4>Actors<a class="headerlink" href="#actors" title="Permalink to this headline">¶</a></h4>
+<p>The <code class="docutils literal notranslate"><span class="pre">Actors</span></code> tag defines the agents that are mainly affected by this sequence.
+These agents can either be defined directly by stating their name within a sub-tag <code class="docutils literal notranslate"><span class="pre"><EntityRef</span> <span class="pre">entityRef="entityName"/></span></code> or as the agent that triggered the event itself via <code class="docutils literal notranslate"><span class="pre"><Actors</span> <span class="pre">selectTriggeringEntities="true"/></span></code>.</p>
+</div>
+<div class="section" id="maneuver">
+<span id="scenario-maneuver"></span><h4>Maneuver<a class="headerlink" href="#maneuver" title="Permalink to this headline">¶</a></h4>
+<p>The <code class="docutils literal notranslate"><span class="pre">Maneuver</span></code> tag defines the conditions, when an action shall take place.
+It contains one or more events, each consisting of <strong>one</strong> action and <strong>one or more</strong> start conditions.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Only a single action is currently supported, although the standard allows several.</p>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Due to internal handling, event names must be unique.</p>
+</div>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Maneuver</span> <span class="na">name=</span><span class="s">"MyManeuver"</span><span class="nt">></span>
+ <span class="nt"><Event</span> <span class="na">name=</span><span class="s">"MyEvent"</span> <span class="na">priority=</span><span class="s">"overwrite"</span><span class="nt">></span>
+ <span class="nt"><Action</span> <span class="na">name=</span><span class="s">"MyManipulator"</span><span class="nt">></span>
+ ...
+ <span class="nt"></Action></span>
+ <span class="nt"><StartTrigger></span>
+ <span class="nt"><ConditionGroup></span>
+ <span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"Conditional"</span><span class="nt">></span>
+ ...
+ <span class="nt"></Condition></span>
+ <span class="nt"></ConditionGroup></span>
+ <span class="nt"></StartTrigger></span>
+ <span class="nt"></Event></span>
+<span class="nt"></Maneuver></span>
+</pre></div>
+</div>
+<div class="section" id="conditions">
+<span id="scenario-conditions"></span><h5>Conditions<a class="headerlink" href="#conditions" title="Permalink to this headline">¶</a></h5>
+<p><strong>OpenPASS</strong> support different kind of conditions, belonging either to <code class="docutils literal notranslate"><span class="pre">ByValueCondition</span></code> or <code class="docutils literal notranslate"><span class="pre">ByEntityCondition</span></code>.
+While a <strong>by value condition</strong> trigger based on a specified value and is unrelated to any specific agent, a <strong>by entity condition</strong> is bound to an triggering agent, defined by a mandatory section <code class="docutils literal notranslate"><span class="pre">TriggeringEntities</span></code>.
+Entities can be either ego or scenario agents, or all agents if the section is left blank.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>OpenSCENARIO specifies that a rule should be applied to the <code class="docutils literal notranslate"><span class="pre">TriggeringEntities</span></code> element.
+Currently, only the rule <code class="docutils literal notranslate"><span class="pre">any</span></code> is supported, so any of the listed entities may satisfy the condition independent of the others.</p>
+</div>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 72%" />
+<col style="width: 28%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Condition</p></th>
+<th class="head"><p>Triggered By</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><a class="reference internal" href="#scenario-simulationtime"><span class="std std-ref">SimulationTime</span></a></p></td>
+<td><p>Value</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#scenario-relativelaneposition"><span class="std std-ref">RelativeLanePosition</span></a></p></td>
+<td><p>Entity</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#scenario-roadposition"><span class="std std-ref">RoadPosition</span></a></p></td>
+<td><p>Entity</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#scenario-relativelaneposition"><span class="std std-ref">RelativeLanePosition</span></a></p></td>
+<td><p>Entity</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#scenario-relativespeed"><span class="std std-ref">RelativeSpeed</span></a></p></td>
+<td><p>Entity</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#scenario-timetocollision"><span class="std std-ref">TimeToCollision</span></a></p></td>
+<td><p>Entity</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#scenario-timeheadway"><span class="std std-ref">TimeHeadway</span></a></p></td>
+<td><p>Entity</p></td>
+</tr>
+</tbody>
+</table>
+<div class="section" id="simulationtime">
+<span id="scenario-simulationtime"></span><h6>SimulationTime<a class="headerlink" href="#simulationtime" title="Permalink to this headline">¶</a></h6>
+<p>Defines, when the simulation ends.
+Triggers at a specified time value, given in seconds.
+The rule is required and only <code class="docutils literal notranslate"><span class="pre">greaterThan</span></code> is currently supported.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"EndTime"</span> <span class="na">delay=</span><span class="s">"0"</span> <span class="na">conditionEdge=</span><span class="s">"rising"</span><span class="nt">></span>
+ <span class="nt"><ByValueCondition></span>
+ <span class="nt"><SimulationTimeCondition</span> <span class="na">value=</span><span class="s">"30.0"</span> <span class="na">rule=</span><span class="s">"greaterThan"</span><span class="nt">/></span>
+ <span class="nt"></ByValueCondition></span>
+<span class="nt"></Condition></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="relativelaneposition">
+<span id="scenario-relativelaneposition"></span><h6>RelativeLanePosition<a class="headerlink" href="#relativelaneposition" title="Permalink to this headline">¶</a></h6>
+<p>Triggers if an entity is within a relative lane position with respect to the specified object.
+Here, <em>ds</em> (s-delta) and <em>dLane</em> (lane-delta) are applied to a reference <em>object</em>, e.g. <code class="docutils literal notranslate"><span class="pre">referenceEntity.s</span> <span class="pre">+</span> <span class="pre">ds</span></code>.
+The tolerance is then added and subtracted from the resulting s-coordinate to form a triggering zone.
+The condition is satisfied, if a TriggeringEntity touches this zone.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"RelativeLanePosition"</span><span class="nt">></span>
+ <span class="nt"><ByEntityCondition></span>
+ <span class="nt"><TriggeringEntities</span> <span class="na">triggeringEntitiesRule=</span><span class="s">"any"</span><span class="nt">></span>
+ <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">/></span>
+ <span class="nt"></TriggeringEntities></span>
+ <span class="nt"><EntityCondition></span>
+ <span class="nt"><ReachPositionCondition</span> <span class="na">tolerance=</span><span class="s">"15.0"</span><span class="nt">></span>
+ <span class="nt"><Position></span>
+ <span class="nt"><RelativeLanePosition</span> <span class="na">entityRef=</span><span class="s">"StandingAgent"</span> <span class="na">dLane=</span><span class="s">"-1"</span> <span class="na">ds=</span><span class="s">"20.0"</span><span class="nt">/></span>
+ <span class="nt"></Position></span>
+ <span class="nt"></ReachPositionCondition></span>
+ <span class="nt"></EntityCondition></span>
+ <span class="nt"></ByEntityCondition></span>
+<span class="nt"></Condition></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="roadposition">
+<span id="scenario-roadposition"></span><h6>RoadPosition<a class="headerlink" href="#roadposition" title="Permalink to this headline">¶</a></h6>
+<p>This Condition evaluates if a TriggeringEntity touches a given s-coordinate, <em>s</em>, on a specified road, given by <em>roadId</em>.
+Note that the tolerance is added and subtracted from the s-coordinate to form a triggering zone.
+The condition is satisfied, if a TriggeringEntity touches this zone.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"RoadPosition"</span><span class="nt">></span>
+ <span class="nt"><ByEntityCondition></span>
+ <span class="nt"><TriggeringEntities</span> <span class="na">triggeringEntitiesRule=</span><span class="s">"any"</span><span class="nt">></span>
+ <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">/></span>
+ <span class="nt"></TriggeringEntities></span>
+ <span class="nt"><EntityCondition></span>
+ <span class="nt"><ReachPositionCondition</span> <span class="na">tolerance=</span><span class="s">"3.0"</span><span class="nt">></span>
+ <span class="nt"><Position></span>
+ <span class="nt"><RoadPosition</span> <span class="na">roadId=</span><span class="s">"0"</span> <span class="na">s=</span><span class="s">"110.0"</span> <span class="na">t=</span><span class="s">"0.0"</span><span class="nt">/></span>
+ <span class="nt"></Position></span>
+ <span class="nt"></ReachPositionCondition></span>
+ <span class="nt"></EntityCondition></span>
+ <span class="nt"></ByEntityCondition></span>
+<span class="nt"></Condition></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="relativespeed">
+<span id="scenario-relativespeed"></span><h6>RelativeSpeed<a class="headerlink" href="#relativespeed" title="Permalink to this headline">¶</a></h6>
+<p>This condition evaluates if the relative velocity (<span class="math">v_{rel}</span>) between a TriggeringEntity and a reference entity, is <em>lessThan</em>, <em>equalTo</em>, or <em>greaterThan</em>, a specified value, where <span class="math">v_{rel} = v_{trig} - v_{ref}</span>.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"RelativeSpeed"</span><span class="nt">></span>
+ <span class="nt"><ByEntityCondition></span>
+ <span class="nt"><TriggeringEntities</span> <span class="na">triggeringEntitiesRule=</span><span class="s">"any"</span><span class="nt">></span>
+ <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">/></span>
+ <span class="nt"></TriggeringEntities></span>
+ <span class="nt"><EntityCondition></span>
+ <span class="nt"><RelativeSpeedCondition</span> <span class="na">entityRef=</span><span class="s">"StandingAgent"</span> <span class="na">value=</span><span class="s">"10.0"</span> <span class="na">rule=</span><span class="s">"greaterThan"</span><span class="nt">/></span>
+ <span class="nt"></EntityCondition></span>
+ <span class="nt"></ByEntityCondition></span>
+<span class="nt"></Condition></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="timetocollision">
+<span id="scenario-timetocollision"></span><h6>TimeToCollision<a class="headerlink" href="#timetocollision" title="Permalink to this headline">¶</a></h6>
+<p>This condition evaluates if the <em>Time To Collision</em> (TTC) between a TriggeringEntity and a reference entity is <em>lessThan</em>, <em>equalTo</em>, or <em>greaterThan</em> a specified value.
+The TTC is determined by projecting the movement of the entities using steps of 0.1 seconds and returning the first time step, at which their bounding boxes intersect.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"TimeToCollision"</span><span class="nt">></span>
+ <span class="nt"><ByEntityCondition></span>
+ <span class="nt"><TriggeringEntities</span> <span class="na">triggeringEntitiesRule=</span><span class="s">"any"</span><span class="nt">></span>
+ <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">/></span>
+ <span class="nt"></TriggeringEntities></span>
+ <span class="nt"><EntityCondition></span>
+ <span class="nt"><TimeToCollisionCondition</span> <span class="na">value=</span><span class="s">"3.0"</span> <span class="na">rule=</span><span class="s">"lessThan"</span><span class="nt">></span>
+ <span class="nt"><TimeToCollisionConditionTarget></span>
+ <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"StandingAgent"</span><span class="nt">/></span>
+ <span class="nt"></TimeToCollisionConditionTarget></span>
+ <span class="nt"></TimeToCollisionCondition></span>
+ <span class="nt"></EntityCondition></span>
+ <span class="nt"></ByEntityCondition></span>
+<span class="nt"></Condition></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="timeheadway">
+<span id="scenario-timeheadway"></span><h6>TimeHeadway<a class="headerlink" href="#timeheadway" title="Permalink to this headline">¶</a></h6>
+<p>This condition evaluates if the <em>Time Headway</em> (THW) between a TriggeringEntity and a reference entity is <em>lessThan</em>, <em>equalTo</em>, or <em>greaterThan</em> a specified value.
+If <code class="docutils literal notranslate"><span class="pre">freespace="true"</span></code> the net distance of the bounding boxes is considered, otherwise the distance of the reference points.
+The <code class="docutils literal notranslate"><span class="pre">alongRoute</span></code> attribute must be <code class="docutils literal notranslate"><span class="pre">true</span></code>.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"TimeHeadway"</span><span class="nt">></span>
+ <span class="nt"><ByEntityCondition></span>
+ <span class="nt"><TriggeringEntities</span> <span class="na">triggeringEntitiesRule=</span><span class="s">"any"</span><span class="nt">></span>
+ <span class="nt"><EntityRef</span> <span class="na">entityRef=</span><span class="s">"Ego"</span><span class="nt">/></span>
+ <span class="nt"></TriggeringEntities></span>
+ <span class="nt"><EntityCondition></span>
+ <span class="nt"><TimeHeadwayCondition</span> <span class="na">value=</span><span class="s">"3.0"</span>
+ <span class="na">rule=</span><span class="s">"lessThan"</span>
+ <span class="na">entityRef=</span><span class="s">"StandingAgent"</span>
+ <span class="na">freespace=</span><span class="s">"true"</span>
+ <span class="na">alongRoute=</span><span class="s">"true"</span><span class="nt">/></span>
+ <span class="nt"></EntityCondition></span>
+ <span class="nt"></ByEntityCondition></span>
+<span class="nt"></Condition></span>
+</pre></div>
+</div>
+</div>
+</div>
+<div class="section" id="actions">
+<span id="scenario-actions"></span><h5>Actions<a class="headerlink" href="#actions" title="Permalink to this headline">¶</a></h5>
+<p>Actions define what happens if all conditions of the maneuver are fulfilled and are applied on the actors defined for this maneuver.</p>
+<p>The following openSCENARIO actions are supported:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#scenario-lanechange"><span class="std std-ref">LaneChange</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-followtrajectory"><span class="std std-ref">Follow Trajectory</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-acquireposition"><span class="std std-ref">Acquire Position</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-removeagent"><span class="std std-ref">Remove Agent</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-speedaction"><span class="std std-ref">SpeedAction</span></a></p></li>
+</ul>
+<p>In addition, the following user defined actions are interpreted:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#scenario-componentstatechange"><span class="std std-ref">UserDefinedAction: Component State Change</span></a></p></li>
+<li><p><a class="reference internal" href="#scenario-defaultcustomcommandaction"><span class="std std-ref">UsedDefinedAction: DefaultCustomCommandAction</span></a></p></li>
+</ul>
+<div class="admonition-todo admonition" id="id4">
+<p class="admonition-title">Todo</p>
+<p>Write a paragraph about the concept “Trajectories, OSC Actions, and so” in the developer zone.</p>
+</div>
+<div class="section" id="lanechange">
+<span id="scenario-lanechange"></span><h6>LaneChange<a class="headerlink" href="#lanechange" title="Permalink to this headline">¶</a></h6>
+<p>If this action trigger, the actor is forced to perform a trajectory, calculated at the time of triggering.
+The target lane be given either absolute or with respect to another entity.
+The trajectory can either have a fixed length (in s) or a fixed time.</p>
+<p>Currently, “sinusoidal” is the only supported type.</p>
+<p><strong>Example</strong> <em>with absolute target and fixed length</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"LaneChange"</span><span class="nt">></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><LateralAction></span>
+ <span class="nt"><LaneChangeAction></span>
+ <span class="nt"><LaneChangeActionDynamics</span> <span class="na">value=</span><span class="s">"2.0"</span> <span class="na">dynamicsShape=</span><span class="s">"sinusoidal"</span> <span class="na">dynamicsDimension=</span><span class="s">"time"</span><span class="nt">/></span>
+ <span class="nt"><LaneChangeTarget></span>
+ <span class="nt"><AbsoluteTargetLane</span> <span class="na">value=</span><span class="s">"-4"</span><span class="nt">/></span>
+ <span class="nt"></LaneChangeTarget></span>
+ <span class="nt"></LaneChangeAction></span>
+ <span class="nt"></LateralAction></span>
+ <span class="nt"></PrivateAction></span>
+<span class="nt"></Action></span>
+</pre></div>
+</div>
+<p><strong>Example</strong> <em>with relative target and fixed time</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"LaneChange"</span><span class="nt">></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><LateralAction></span>
+ <span class="nt"><LaneChangeAction></span>
+ <span class="nt"><LaneChangeActionDynamics</span> <span class="na">value=</span><span class="s">"2.0"</span> <span class="na">dynamicsShape=</span><span class="s">"sinusoidal"</span> <span class="na">dynamicsDimension=</span><span class="s">"time"</span><span class="nt">/></span>
+ <span class="nt"><LaneChangeTarget></span>
+ <span class="nt"><RelativeTargetLane</span> <span class="na">entityRef=</span><span class="s">"Ego"</span> <span class="na">value=</span><span class="s">"+1"</span><span class="nt">/></span>
+ <span class="nt"></LaneChangeTarget></span>
+ <span class="nt"></LaneChangeAction></span>
+ <span class="nt"></LateralAction></span>
+ <span class="nt"></PrivateAction></span>
+<span class="nt"></Action></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="follow-trajectory">
+<span id="scenario-followtrajectory"></span><h6>Follow Trajectory<a class="headerlink" href="#follow-trajectory" title="Permalink to this headline">¶</a></h6>
+<p>If triggered, the defined trajectory is relayed as signal to listening components.
+The trajectory can be defined either directly in the story or as separate TrajectoryCatalog.
+For the points (vertices) of the trajectory only world coordinates, given as <code class="docutils literal notranslate"><span class="pre">openScenario::WorldPosition</span></code>, are supported.
+Right now, the mandatory attributes <em>z</em>, <em>pitch</em> and <em>roll</em> are ignored.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"Trajectory"</span><span class="nt">></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><RoutingAction></span>
+ <span class="nt"><FollowTrajectoryAction></span>
+ <span class="nt"><Trajectory</span> <span class="na">name=</span><span class="s">"LaneChange"</span> <span class="na">closed=</span><span class="s">"false"</span><span class="nt">></span>
+ <span class="nt"><Shape></span>
+ <span class="nt"><Polyline></span>
+ <span class="nt"><Vertex</span> <span class="na">time=</span><span class="s">"0"</span><span class="nt">></span>
+ <span class="nt"><Position></span>
+ <span class="nt"><WorldPosition</span> <span class="na">x=</span><span class="s">"100"</span> <span class="na">y=</span><span class="s">"3"</span> <span class="na">z=</span><span class="s">"0"</span> <span class="na">h=</span><span class="s">"1.570796326"</span> <span class="na">p=</span><span class="s">"0"</span> <span class="na">r=</span><span class="s">"0"</span><span class="nt">/></span>
+ <span class="nt"></Position></span>
+ <span class="nt"></Vertex></span>
+ <span class="nt"><Vertex</span> <span class="na">time=</span><span class="s">"5"</span><span class="nt">></span>
+ <span class="nt"><Position></span>
+ <span class="nt"><WorldPosition</span> <span class="na">x=</span><span class="s">"100"</span> <span class="na">y=</span><span class="s">"8"</span> <span class="na">z=</span><span class="s">"0"</span> <span class="na">h=</span><span class="s">"1.570796326"</span> <span class="na">p=</span><span class="s">"0"</span> <span class="na">r=</span><span class="s">"0"</span><span class="nt">/></span>
+ <span class="nt"></Position></span>
+ <span class="nt"></Vertex></span>
+ <span class="nt"></Polyline></span>
+ <span class="nt"></Shape></span>
+ <span class="nt"></Trajectory></span>
+ <span class="nt"><TimeReference></span>
+ <span class="nt"><None/></span>
+ <span class="nt"></TimeReference></span>
+ <span class="nt"><TrajectoryFollowingMode</span> <span class="na">followingMode=</span><span class="s">"position"</span><span class="nt">/></span>
+ <span class="nt"></FollowTrajectoryAction></span>
+ <span class="nt"></RoutingAction></span>
+ <span class="nt"></PrivateAction></span>
+<span class="nt"></Action></span>
+</pre></div>
+</div>
+<p><strong>Example</strong> <em>using a TrajectoryCatalog</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"FollowTrajectory"</span><span class="nt">></span>
+ <span class="nt"><Private></span>
+ <span class="nt"><Routing></span>
+ <span class="nt"><FollowTrajectoryAction></span>
+ <span class="nt"><CatalogReference</span> <span class="na">catalogName=</span><span class="s">"TrajectoryCatalog.xosc"</span> <span class="na">entryName=</span><span class="s">"TrajectoryA"</span><span class="nt">></span>
+ <span class="nt"></FollowTrajectoryAction></span>
+ <span class="nt"></Routing></span>
+ <span class="nt"></Private></span>
+<span class="nt"></Action></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="acquire-position">
+<span id="scenario-acquireposition"></span><h6>Acquire Position<a class="headerlink" href="#acquire-position" title="Permalink to this headline">¶</a></h6>
+<p>If triggered, the defined position is relayed as signal to listening components.
+Currently only “WorldPosition” and “RelativeObjectPosition” are supported.</p>
+<p><strong>Example</strong> <em>(WorldPosition)</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"AcquirePosition"</span><span class="nt">></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><RoutingAction></span>
+ <span class="nt"><AcquirePositionAction></span>
+ <span class="nt"><Position></span>
+ <span class="nt"><WorldPosition</span> <span class="na">x=</span><span class="s">"1.0"</span> <span class="na">y=</span><span class="s">"2.0"</span> <span class="na">z=</span><span class="s">"0.0"</span> <span class="na">h=</span><span class="s">"3.1415"</span> <span class="na">p=</span><span class="s">"0.0"</span> <span class="na">r=</span><span class="s">"0.0"</span> <span class="nt">/></span>
+ <span class="nt"></Position></span>
+ <span class="nt"></AcquirePositionAction></span>
+ <span class="nt"></RoutingAction></span>
+ <span class="nt"></PrivateAction></span>
+<span class="nt"></Action></span>
+</pre></div>
+</div>
+<p><strong>Example</strong> <em>(RelativeObjectPosition)</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"AcquirePosition"</span><span class="nt">></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><RoutingAction></span>
+ <span class="nt"><AcquirePositionAction></span>
+ <span class="nt"><Position></span>
+ <span class="nt"><RelativeObjectPosition</span> <span class="na">dx=</span><span class="s">"1.0"</span> <span class="na">dy=</span><span class="s">"1.0"</span> <span class="na">entityRef=</span><span class="s">"S1"</span><span class="nt">/></span>
+ <span class="nt"></Position></span>
+ <span class="nt"></AcquirePositionAction></span>
+ <span class="nt"></RoutingAction></span>
+ <span class="nt"></PrivateAction></span>
+<span class="nt"></Action></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="remove-agent">
+<span id="scenario-removeagent"></span><h6>Remove Agent<a class="headerlink" href="#remove-agent" title="Permalink to this headline">¶</a></h6>
+<p>The RemoveAgentsManipulator removes the specified entity at the time of triggering.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"RemoveAgents"</span><span class="nt">></span>
+ <span class="nt"><GlobalAction></span>
+ <span class="nt"><EntityAction</span> <span class="na">entityRef=</span><span class="s">""</span><span class="nt">></span>
+ <span class="nt"><DeleteEntityAction/></span>
+ <span class="nt"></EntityAction></span>
+ <span class="nt"></GlobalAction></span>
+<span class="nt"></Action></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="speedaction">
+<span id="scenario-speedaction"></span><h6>SpeedAction<a class="headerlink" href="#speedaction" title="Permalink to this headline">¶</a></h6>
+<p>The SpeedAction adjusts the velocity of an entity based on parameters of the SpeedAction.
+Both variants, “RelativeTargetSpeed” and “AbsoluteTargetSpeed”, are supported, but with restrictions:</p>
+<ul class="simple">
+<li><p>The SpeedActionDynamics attribute “dynamicsShape” only supports “linear” and “step”.</p></li>
+<li><p>The SpeedActionDynamics attribute “dynamicsDimension” only supports “rate”.</p></li>
+<li><p>The RelativeTargetSpeed attribute “continuous” is ignored.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Values defined in the SpeedAction might not reflect actual values used by the simulator due to physical boundaries of the simulator.</p>
+</div>
+<p><strong>Example</strong> <em>AbsoulteTargetSpeed</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"SpeedAction"</span><span class="nt">></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><LongitudinalAction></span>
+ <span class="nt"><SpeedAction></span>
+ <span class="nt"><SpeedActionDynamics</span> <span class="na">dynamicsShape=</span><span class="s">"step"</span> <span class="na">value=</span><span class="s">"0.0"</span> <span class="na">dynamicsDimension=</span><span class="s">"rate"</span><span class="nt">/></span>
+ <span class="nt"><SpeedActionTarget></span>
+ <span class="nt"><AbsoluteTargetSpeed</span> <span class="na">value=</span><span class="s">"20"</span><span class="nt">/></span>
+ <span class="nt"></SpeedActionTarget></span>
+ <span class="nt"></SpeedAction></span>
+ <span class="nt"></LongitudinalAction></span>
+ <span class="nt"></PrivateAction></span>
+<span class="nt"></Action></span>
+</pre></div>
+</div>
+<p><strong>Example</strong> <em>RelativeTargetSpeed</em></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"SpeedAction"</span><span class="nt">></span>
+ <span class="nt"><PrivateAction></span>
+ <span class="nt"><LongitudinalAction></span>
+ <span class="nt"><SpeedAction></span>
+ <span class="nt"><SpeedActionDynamics</span> <span class="na">dynamicsShape=</span><span class="s">"step"</span> <span class="na">value=</span><span class="s">"0.0"</span> <span class="na">dynamicsDimension=</span><span class="s">"rate"</span><span class="nt">/></span>
+ <span class="nt"><SpeedActionTarget></span>
+ <span class="nt"><RelativeTargetSpeed</span> <span class="na">entityRef=</span><span class="s">"ScenarioAgent"</span> <span class="na">value=</span><span class="s">"10"</span>
+ <span class="na">speedTargetValueType=</span><span class="s">"delta"</span> <span class="na">continuous=</span><span class="s">"false"</span><span class="nt">/></span>
+ <span class="nt"></SpeedActionTarget></span>
+ <span class="nt"></SpeedAction></span>
+ <span class="nt"></LongitudinalAction></span>
+ <span class="nt"></PrivateAction></span>
+<span class="nt"></Action></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="useddefinedaction-defaultcustomcommandaction">
+<span id="scenario-defaultcustomcommandaction"></span><h6>UsedDefinedAction: DefaultCustomCommandAction<a class="headerlink" href="#useddefinedaction-defaultcustomcommandaction" title="Permalink to this headline">¶</a></h6>
+<div class="admonition-todo admonition" id="id5">
+<p class="admonition-title">Todo</p>
+<p>Write a paragraph in the developer zone about the concept “wrapping FMUs” and the “OSMP FMU”</p>
+</div>
+<p>This is <strong>the</strong> default custom command, and is always selected, if <strong>the first WORD</strong> (Keyword) in the command string is <strong>not</strong> registered as a special custom command.</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">DefaultCustomCommandAction</span></code> adds an event to the <code class="docutils literal notranslate"><span class="pre">EventNetwork</span></code>, which is relayed as a string (<code class="docutils literal notranslate"><span class="pre">StringSignal</span></code>) by the component``OSCActions``.</p>
+<div class="admonition-fmu-wrapper-component-for-osmp-messages-only admonition">
+<p class="admonition-title">FMU_Wrapper component for OSMP messages only</p>
+<p>The linked string signal is set as custom action of the TrafficCommand.</p>
+</div>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"CustomParameters"</span><span class="nt">></span>
+ <span class="nt"><UserDefinedAction></span>
+ <span class="nt"><CustomCommandAction></span>Arbitrary String, e.g. { "hello": "world"}<span class="nt"></CustomCommandAction></span>
+ <span class="nt"></UserDefinedAction></span>
+<span class="nt"></Action></span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Here, “Arbitrary” is first checked, if it matches any other available Keyword for used defined actions, such as <a class="reference internal" href="#scenario-componentstatechange"><span class="std std-ref">UserDefinedAction: Component State Change</span></a>.</p>
+</div>
+</div>
+<div class="section" id="userdefinedaction-component-state-change">
+<span id="scenario-componentstatechange"></span><h6>UserDefinedAction: Component State Change<a class="headerlink" href="#userdefinedaction-component-state-change" title="Permalink to this headline">¶</a></h6>
+<p>Command Keyword: SetComponentState</p>
+<div class="admonition-todo admonition" id="id6">
+<p class="admonition-title">Todo</p>
+<p>Write a paragraph in the developer zone about the concept “Component State Change”</p>
+</div>
+<p>The ComponentStateChangeManipulator influences the maximum reachable state of an agent component that is handled by the ComponentController, i.e. it can either activate or deactivate a component.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Action</span> <span class="na">name=</span><span class="s">"ComponentStateChange"</span><span class="nt">></span>
+ <span class="nt"><UserDefinedAction></span>
+ <span class="nt"><CustomCommandAction></span>SetComponentState Dynamics_TrajectoryFollower Acting<span class="nt"></CustomCommandAction></span>
+ <span class="nt"></UserDefinedAction></span>
+<span class="nt"></Action></span>
+</pre></div>
+</div>
+</div>
+</div>
+</div>
+</div>
+<div class="section" id="stoptrigger">
+<span id="scenario-stoptrigger"></span><h3>StopTrigger<a class="headerlink" href="#stoptrigger" title="Permalink to this headline">¶</a></h3>
+<p>Here, end conditions for the simulation are defined.</p>
+<p>Right now, only SimulationTime is supported, given in seconds, with the fixed <code class="docutils literal notranslate"><span class="pre">rule="greaterThan"</span></code>.</p>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><StopTrigger></span>
+ <span class="nt"><ConditionGroup></span>
+ <span class="nt"><Condition</span> <span class="na">name=</span><span class="s">"EndTime"</span> <span class="na">delay=</span><span class="s">"0"</span> <span class="na">conditionEdge=</span><span class="s">"rising"</span><span class="nt">></span>
+ <span class="nt"><ByValueCondition></span>
+ <span class="nt"><SimulationTimeCondition</span> <span class="na">value=</span><span class="s">"30.0"</span> <span class="na">rule=</span><span class="s">"greaterThan"</span><span class="nt">/></span>
+ <span class="nt"></ByValueCondition></span>
+ <span class="nt"></Condition></span>
+ <span class="nt"></ConditionGroup></span>
+ <span class="nt"></StopTrigger></span>
+</pre></div>
+</div>
+</div>
+</div>
+</div>
+
+
+ </div>
+
+ </div>
+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
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+
+ <div class="section" id="scenery">
+<span id="id1"></span><h1>Scenery<a class="headerlink" href="#scenery" title="Permalink to this headline">¶</a></h1>
+<p>This file describes the road network and all static objects of the road for the simulation run.
+It is structured according to the <strong>ASAM OpenDRIVE 1.6</strong> standard.</p>
+<p>The file name can be freely chosen, but needs to be properly referenced by the <a class="reference internal" href="scenario.html#scenario"><span class="std std-ref">Scenario</span></a> within the tag <a class="reference internal" href="scenario.html#scenario-roadnetwork"><span class="std std-ref">RoadNetwork</span></a>.</p>
+<div class="section" id="restrictions">
+<h2>Restrictions<a class="headerlink" href="#restrictions" title="Permalink to this headline">¶</a></h2>
+<p>If object definitions does not meet the openDRIVE or are not supported, the simulation is aborted.
+On top <strong>openPASS</strong> adds some additional requirements to the attributes of objects:</p>
+<ul class="simple">
+<li><p>length > 0</p></li>
+<li><p>width > 0</p></li>
+<li><p>radius == 0</p></li>
+</ul>
+<p>Objects, which do no meet these requirements are ignored.</p>
+</div>
+<div class="section" id="full-example">
+<h2>Full Example<a class="headerlink" href="#full-example" title="Permalink to this headline">¶</a></h2>
+<div class="literal-block-wrapper docutils container" id="id2">
+<div class="code-block-caption"><span class="caption-text">SceneryConfiguration.xodr</span><a class="headerlink" href="#id2" title="Permalink to this code">¶</a></div>
+<div class="highlight-xml notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre><span class="normal"> 1</span>
+<span class="normal"> 2</span>
+<span class="normal"> 3</span>
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+<span class="normal">21</span>
+<span class="normal">22</span>
+<span class="normal">23</span>
+<span class="normal">24</span>
+<span class="normal">25</span>
+<span class="normal">26</span>
+<span class="normal">27</span>
+<span class="normal">28</span>
+<span class="normal">29</span>
+<span class="normal">30</span>
+<span class="normal">31</span>
+<span class="normal">32</span>
+<span class="normal">33</span>
+<span class="normal">34</span>
+<span class="normal">35</span>
+<span class="normal">36</span>
+<span class="normal">37</span>
+<span class="normal">38</span>
+<span class="normal">39</span>
+<span class="normal">40</span>
+<span class="normal">41</span>
+<span class="normal">42</span>
+<span class="normal">43</span>
+<span class="normal">44</span>
+<span class="normal">45</span>
+<span class="normal">46</span>
+<span class="normal">47</span>
+<span class="normal">48</span>
+<span class="normal">49</span>
+<span class="normal">50</span>
+<span class="normal">51</span>
+<span class="normal">52</span>
+<span class="normal">53</span>
+<span class="normal">54</span>
+<span class="normal">55</span>
+<span class="normal">56</span>
+<span class="normal">57</span>
+<span class="normal">58</span>
+<span class="normal">59</span>
+<span class="normal">60</span>
+<span class="normal">61</span>
+<span class="normal">62</span>
+<span class="normal">63</span>
+<span class="normal">64</span>
+<span class="normal">65</span>
+<span class="normal">66</span>
+<span class="normal">67</span>
+<span class="normal">68</span>
+<span class="normal">69</span></pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="nt"><OpenDRIVE></span>
+ <span class="nt"><header</span> <span class="na">revMajor=</span><span class="s">"1"</span> <span class="na">revMinor=</span><span class="s">"1"</span> <span class="na">name=</span><span class="s">"Testfile"</span> <span class="na">version=</span><span class="s">"1"</span> <span class="na">date=</span><span class="s">"Thu Feb 8 14:24:06 2007"</span> <span class="na">north=</span><span class="s">"2.0000000000000000e+003"</span> <span class="na">south=</span><span class="s">"-2.0000000000000000e+003"</span> <span class="na">east=</span><span class="s">"2.0000000000000000e+003"</span> <span class="na">west=</span><span class="s">"-2.0000000000000000e+003"</span><span class="nt">/></span>
+ <span class="nt"><road</span> <span class="na">name=</span><span class="s">""</span> <span class="na">length=</span><span class="s">"5139.7188686309819"</span> <span class="na">id=</span><span class="s">"1"</span> <span class="na">junction=</span><span class="s">"-1"</span><span class="nt">></span>
+ <span class="nt"><link/></span>
+ <span class="nt"><planView></span>
+ <span class="nt"><geometry</span> <span class="na">s=</span><span class="s">"0.0000000000000000e+000"</span> <span class="na">x=</span><span class="s">"0"</span> <span class="na">y=</span><span class="s">"7.5"</span> <span class="na">hdg=</span><span class="s">"0"</span> <span class="na">length=</span><span class="s">"4000"</span><span class="nt">></span>
+ <span class="nt"><line/></span>
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+ <span class="nt"></geometry></span>
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+ <span class="nt"></geometry></span>
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+ <span class="nt"><line/></span>
+ <span class="nt"></geometry></span>
+ <span class="nt"></planView></span>
+ <span class="nt"><elevationProfile/></span>
+ <span class="nt"><lateralProfile/></span>
+ <span class="nt"><lanes></span>
+ <span class="nt"><laneSection</span> <span class="na">s=</span><span class="s">"0.0000000000000000e+000"</span><span class="nt">></span>
+ <span class="nt"><left/></span>
+ <span class="nt"><center></span>
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+ <span class="nt"><link></span>
+ <span class="nt"><successor</span> <span class="na">id=</span><span class="s">"0"</span><span class="nt">/></span>
+ <span class="nt"></link></span>
+ <span class="nt"><roadMark</span> <span class="na">weight=</span><span class="s">"standard"</span> <span class="na">sOffset=</span><span class="s">"0"</span> <span class="na">type=</span><span class="s">"solid"</span> <span class="na">color=</span><span class="s">"standard"</span> <span class="na">width=</span><span class="s">"0.12"</span> <span class="na">laneChange=</span><span class="s">"both"</span><span class="nt">/></span>
+ <span class="nt"></lane></span>
+ <span class="nt"></center></span>
+ <span class="nt"><right></span>
+ <span class="nt"><lane</span> <span class="na">id=</span><span class="s">"-1"</span> <span class="na">type=</span><span class="s">"driving"</span> <span class="na">level=</span><span class="s">"true"</span><span class="nt">></span>
+ <span class="nt"><link></span>
+ <span class="nt"><successor</span> <span class="na">id=</span><span class="s">"-1"</span><span class="nt">/></span>
+ <span class="nt"></link></span>
+ <span class="nt"><width</span> <span class="na">sOffset=</span><span class="s">"0"</span> <span class="na">a=</span><span class="s">"3.75"</span> <span class="na">b=</span><span class="s">"0"</span> <span class="na">c=</span><span class="s">"0"</span> <span class="na">d=</span><span class="s">"0"</span><span class="nt">/></span>
+ <span class="nt"><roadMark</span> <span class="na">weight=</span><span class="s">"standard"</span> <span class="na">sOffset=</span><span class="s">"0"</span> <span class="na">type=</span><span class="s">"broken"</span> <span class="na">color=</span><span class="s">"standard"</span> <span class="na">width=</span><span class="s">"0.12"</span> <span class="na">laneChange=</span><span class="s">"both"</span><span class="nt">/></span>
+ <span class="nt"></lane></span>
+ <span class="nt"><lane</span> <span class="na">id=</span><span class="s">"-2"</span> <span class="na">type=</span><span class="s">"driving"</span> <span class="na">level=</span><span class="s">"true"</span><span class="nt">></span>
+ <span class="nt"><link></span>
+ <span class="nt"><successor</span> <span class="na">id=</span><span class="s">"-2"</span><span class="nt">/></span>
+ <span class="nt"></link></span>
+ <span class="nt"><width</span> <span class="na">sOffset=</span><span class="s">"0"</span> <span class="na">a=</span><span class="s">"3.75"</span> <span class="na">b=</span><span class="s">"0"</span> <span class="na">c=</span><span class="s">"0"</span> <span class="na">d=</span><span class="s">"0"</span><span class="nt">/></span>
+ <span class="nt"><roadMark</span> <span class="na">weight=</span><span class="s">"standard"</span> <span class="na">sOffset=</span><span class="s">"0"</span> <span class="na">type=</span><span class="s">"solid"</span> <span class="na">color=</span><span class="s">"standard"</span> <span class="na">width=</span><span class="s">"0.12"</span> <span class="na">laneChange=</span><span class="s">"both"</span><span class="nt">/></span>
+ <span class="nt"></lane></span>
+ <span class="nt"></right></span>
+ <span class="nt"></laneSection></span>
+ <span class="nt"></lanes></span>
+ <span class="nt"><objects></span>
+ <span class="nt"><object</span> <span class="na">type=</span><span class="s">"roadMark"</span> <span class="na">name=</span><span class="s">"RoadSideMarkerPost"</span> <span class="na">id=</span><span class="s">""</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">t=</span><span class="s">"1"</span> <span class="na">zOffset=</span><span class="s">"0"</span> <span class="na">validLength=</span><span class="s">"0"</span> <span class="na">orientation=</span><span class="s">"+"</span> <span class="na">length=</span><span class="s">"0.12"</span> <span class="na">width=</span><span class="s">"0.12"</span> <span class="na">height=</span><span class="s">"1.2"</span> <span class="na">hdg=</span><span class="s">"0"</span> <span class="na">pitch=</span><span class="s">"0"</span> <span class="na">roll=</span><span class="s">"0"</span><span class="nt">></span>
+ <span class="nt"><repeat</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">distance=</span><span class="s">"50"</span> <span class="na">length=</span><span class="s">"5139.7188686309819"</span><span class="nt">/></span>
+ <span class="nt"></object></span>
+ <span class="nt"><object</span> <span class="na">type=</span><span class="s">"roadMark"</span> <span class="na">name=</span><span class="s">"RoadSideMarkerPost"</span> <span class="na">id=</span><span class="s">""</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">t=</span><span class="s">"-8.5"</span> <span class="na">zOffset=</span><span class="s">"0"</span> <span class="na">validLength=</span><span class="s">"0"</span> <span class="na">orientation=</span><span class="s">"-"</span> <span class="na">length=</span><span class="s">"0.12"</span> <span class="na">width=</span><span class="s">"0.12"</span> <span class="na">height=</span><span class="s">"1.2"</span> <span class="na">hdg=</span><span class="s">"0"</span> <span class="na">pitch=</span><span class="s">"0"</span> <span class="na">roll=</span><span class="s">"0"</span><span class="nt">></span>
+ <span class="nt"><repeat</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">distance=</span><span class="s">"50"</span> <span class="na">length=</span><span class="s">"5139.7188686309819"</span><span class="nt">/></span>
+ <span class="nt"></object></span>
+ <span class="nt"><object</span> <span class="na">type=</span><span class="s">"railing"</span> <span class="na">name=</span><span class="s">"GuardRail"</span> <span class="na">id=</span><span class="s">""</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">t=</span><span class="s">"0.5"</span> <span class="na">zOffset=</span><span class="s">"0"</span> <span class="na">validLength=</span><span class="s">"0"</span> <span class="na">orientation=</span><span class="s">"+"</span> <span class="na">length=</span><span class="s">"3.0"</span> <span class="na">width=</span><span class="s">"0.25"</span> <span class="na">height=</span><span class="s">"0.9"</span> <span class="na">hdg=</span><span class="s">"0"</span> <span class="na">pitch=</span><span class="s">"0"</span> <span class="na">roll=</span><span class="s">"0"</span><span class="nt">></span>
+ <span class="nt"><repeat</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">distance=</span><span class="s">"0"</span> <span class="na">length=</span><span class="s">"5139.7188686309819"</span><span class="nt">/></span>
+ <span class="nt"></object></span>
+ <span class="nt"><object</span> <span class="na">type=</span><span class="s">"railing"</span> <span class="na">name=</span><span class="s">"GuardRail"</span> <span class="na">id=</span><span class="s">""</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">t=</span><span class="s">"-8"</span> <span class="na">zOffset=</span><span class="s">"0"</span> <span class="na">validLength=</span><span class="s">"0"</span> <span class="na">orientation=</span><span class="s">"-"</span> <span class="na">length=</span><span class="s">"3.0"</span> <span class="na">width=</span><span class="s">"0.25"</span> <span class="na">height=</span><span class="s">"0.9"</span> <span class="na">hdg=</span><span class="s">"0"</span> <span class="na">pitch=</span><span class="s">"0"</span> <span class="na">roll=</span><span class="s">"0"</span><span class="nt">></span>
+ <span class="nt"><repeat</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">distance=</span><span class="s">"0"</span> <span class="na">length=</span><span class="s">"5139.7188686309819"</span><span class="nt">/></span>
+ <span class="nt"></object></span>
+ <span class="nt"></objects></span>
+ <span class="nt"><signals/></span>
+ <span class="nt"></road></span>
+<span class="nt"></OpenDRIVE></span>
+</pre></div>
+</td></tr></table></div>
+</div>
+</div>
+</div>
+
+
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+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
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diff --git a/content/html/user_guide/configs/simulationconfig.html b/content/html/user_guide/configs/simulationconfig.html
new file mode 100644
index 0000000..1db227e
--- /dev/null
+++ b/content/html/user_guide/configs/simulationconfig.html
@@ -0,0 +1,663 @@
+
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+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
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+<li class="toctree-l1 current"><a class="reference internal" href="../40_configs_in_depth.html">Configs in Depth</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="profilescatalog.html">ProfilesCatalog</a></li>
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+ <div class="section" id="simulationconfig">
+<span id="id1"></span><h1>SimulationConfig<a class="headerlink" href="#simulationconfig" title="Permalink to this headline">¶</a></h1>
+<p>This file describes the user configurable parameters of an experiment.
+Several parameters depend on probabilities.
+Each invocation then rolls for said probabilities.
+All probabilities need to add up to 1.0.</p>
+<p>The simulationConfig.xml consists of the following sections:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#simulationconfig-profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a></p></li>
+<li><p><a class="reference internal" href="#simulationconfig-experiment"><span class="std std-ref">Experiment</span></a></p></li>
+<li><p><a class="reference internal" href="#simulationconfig-scenario"><span class="std std-ref">Scenario</span></a></p></li>
+<li><p><a class="reference internal" href="#simulationconfig-environment"><span class="std std-ref">Environment</span></a></p></li>
+<li><p><a class="reference internal" href="#simulationconfig-observations"><span class="std std-ref">Observations</span></a></p></li>
+<li><p><a class="reference internal" href="#simulationconfig-spawners"><span class="std std-ref">Spawners</span></a></p></li>
+</ul>
+<div class="section" id="profilescatalog">
+<span id="simulationconfig-profilescatalog"></span><h2>ProfilesCatalog<a class="headerlink" href="#profilescatalog" title="Permalink to this headline">¶</a></h2>
+<p>Specifies the <a class="reference internal" href="profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a> for the experiment.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><ProfilesCatalog></span>ProfilesCatalog.xml<span class="nt"></ProfilesCatalog></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="experiment">
+<span id="simulationconfig-experiment"></span><h2>Experiment<a class="headerlink" href="#experiment" title="Permalink to this headline">¶</a></h2>
+<p>Specifies the general experiment setup, not specific to a single invocation.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 26%" />
+<col style="width: 63%" />
+<col style="width: 11%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Mandatory</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>ExperimentId</p></td>
+<td><p>Id of the experiment</p></td>
+<td><p>yes</p></td>
+</tr>
+<tr class="row-odd"><td><p>NumberOfInvocations</p></td>
+<td><p>Number of invocation in the experiment.
+For each invocation probabilities are rerolled.</p></td>
+<td><p>yes</p></td>
+</tr>
+<tr class="row-even"><td><p>RandomSeed</p></td>
+<td><p>Random seed for the entire experiment.
+Must be within the bounds of an unsigned integer.</p></td>
+<td><p>yes</p></td>
+</tr>
+<tr class="row-odd"><td><p>Libraries</p></td>
+<td><p>Name of the core module Libraries to use.
+If not specified the default name is assumed.</p></td>
+<td><p>yes</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Experiment></span>
+ <span class="nt"><ExperimentID></span>123<span class="nt"></ExperimentID></span>
+ <span class="nt"><NumberOfInvocations></span>1<span class="nt"></NumberOfInvocations></span>
+ <span class="nt"><RandomSeed></span>532725206<span class="nt"></RandomSeed></span>
+ <span class="nt"><Libraries></span>
+ <span class="nt"><WorldLibrary></span>World_OSI<span class="nt"></WorldLibrary></span>
+ <span class="nt"></Libraries></span>
+ <span class="nt"></Experiment></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="scenario">
+<span id="simulationconfig-scenario"></span><h2>Scenario<a class="headerlink" href="#scenario" title="Permalink to this headline">¶</a></h2>
+<p>This section contains information about the scenario setup for the experiment. This information does not change between invocations.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 32%" />
+<col style="width: 50%" />
+<col style="width: 18%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Mandatory</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OpenScenarioFile</p></td>
+<td><p>Name of the scenario file</p></td>
+<td><p>yes</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Example</strong></p>
+<p>This experiment uses the “HighwayScenario.xosc” scenario file.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Scenario></span>
+ <span class="nt"><OpenScenarioFile></span>Scenario.xosc<span class="nt"></OpenScenarioFile></span>
+ <span class="nt"></Scenario></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="environment">
+<span id="simulationconfig-environment"></span><h2>Environment<a class="headerlink" href="#environment" title="Permalink to this headline">¶</a></h2>
+<p>This section contains information about the world and the general environment inside the simulation. Every invocation re-rolls the environment probabilities.
+All probabilities need to add up to 1.0.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 16%" />
+<col style="width: 77%" />
+<col style="width: 7%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Mandatory</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>TimeOfDay</p></td>
+<td><p><strong>Currently unused.</strong> Time of day ranging from 1-24 [h].</p></td>
+<td><p>1+ entry</p></td>
+</tr>
+<tr class="row-odd"><td><p>VisibilityDistance</p></td>
+<td><p>Defines how far a human driver can see [m].</p></td>
+<td><p>1+ entry</p></td>
+</tr>
+<tr class="row-even"><td><p>Friction</p></td>
+<td><p>Friction on the road. Used by DynamicsRegularDriving and LimiterAccelerationVehicleComponents.</p></td>
+<td><p>1+ entry</p></td>
+</tr>
+<tr class="row-odd"><td><p>Weather</p></td>
+<td><p><strong>Currently unused.</strong> Weather as string</p></td>
+<td><p>1+ entry</p></td>
+</tr>
+<tr class="row-even"><td><p>TrafficRules</p></td>
+<td><p>Defines which set of TrafficRules to use from the ProfilesCatalog</p></td>
+<td><p>yes</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Example</strong></p>
+<p>Every invocation has the time set to 15:00.
+In 70% of all invocation drivers can see 125 meter and for the other 30% of invocations the drivers can see 250 meter.
+Every invocation has a friction of 0.3.
+Every invocation has sunny weather.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Environment></span>
+ <span class="nt"><TimeOfDays></span>
+ <span class="nt"><TimeOfDay</span> <span class="na">Probability=</span><span class="s">"0.4"</span> <span class="na">Value=</span><span class="s">"15"</span><span class="nt">/></span>
+ <span class="nt"><TimeOfDay</span> <span class="na">Probability=</span><span class="s">"0.6"</span> <span class="na">Value=</span><span class="s">"18"</span><span class="nt">/></span>
+ <span class="nt"></TimeOfDays></span>
+ <span class="nt"><VisibilityDistances></span>
+ <span class="nt"><VisibilityDistance</span> <span class="na">Probability=</span><span class="s">"0.7"</span> <span class="na">Value=</span><span class="s">"300"</span><span class="nt">/></span>
+ <span class="nt"><VisibilityDistance</span> <span class="na">Probability=</span><span class="s">"0.3"</span> <span class="na">Value=</span><span class="s">"400"</span><span class="nt">/></span>
+ <span class="nt"></VisibilityDistances></span>
+ <span class="nt"><Frictions></span>
+ <span class="nt"><Friction</span> <span class="na">Probability=</span><span class="s">"1.0"</span> <span class="na">Value=</span><span class="s">"1.0"</span><span class="nt">/></span>
+ <span class="nt"></Frictions></span>
+ <span class="nt"><Weathers></span>
+ <span class="nt"><Weather</span> <span class="na">Probability=</span><span class="s">"0.5"</span> <span class="na">Value=</span><span class="s">"Rainy"</span><span class="nt">/></span>
+ <span class="nt"><Weather</span> <span class="na">Probability=</span><span class="s">"0.5"</span> <span class="na">Value=</span><span class="s">"Snowy"</span><span class="nt">/></span>
+ <span class="nt"></Weathers></span>
+ <span class="nt"><TrafficRules></span>Germany<span class="nt"></TrafficRules></span>
+ <span class="nt"></Environment></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="observations">
+<span id="simulationconfig-observations"></span><h2>Observations<a class="headerlink" href="#observations" title="Permalink to this headline">¶</a></h2>
+<p>In this section all observation libraries are defined with their parameters.
+A specific library is loaded by adding an entry to the <cite>Observations</cite> tag:</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Observations></span>
+ <span class="c"><!-- first observer --></span>
+ <span class="nt"><Observation></span>
+ <span class="nt"><Library></span>THE_OBSERVATION_LIBRARY<span class="nt"></Library></span>
+ <span class="c"><!-- observer specific parameter --></span>
+ <span class="nt"><Parameters></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"THE_KEY"</span> <span class="na">Value=</span><span class="s">"THE_VALUE"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"ANOTHER_KEY"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
+ ...
+ <span class="nt"></Parameters></span>
+ <span class="nt"></Observation></span>
+ <span class="c"><!-- second observer --></span>
+ <span class="nt"><Observation></span>
+ ...
+ <span class="nt"></Observation></span>
+<span class="nt"></Observations></span>
+</pre></div>
+</div>
+<p>Here, the <code class="docutils literal notranslate"><span class="pre">Library</span></code> tag contains the name of the library, and <code class="docutils literal notranslate"><span class="pre">Parameters</span></code> contain an optional list of key/value pairs, specific for each observer.</p>
+<p>Please refer to the documentation of the individual observers for available parameters:</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../outputs/observation_log.html">Observation_Log</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../outputs/observation_repository.html">Observation_EntityRepository</a></li>
+</ul>
+</div>
+</div>
+<div class="section" id="spawners">
+<span id="simulationconfig-spawners"></span><h2>Spawners<a class="headerlink" href="#spawners" title="Permalink to this headline">¶</a></h2>
+<p>In this section the spawners are defined with their Profile (defined in the ProfilesCatalog).
+The same library can be loaded multiple times with different profiles.
+A spawner is either of type “PreRun”, meaning it is triggered only once at the start of the simulation, or “Runtime”, meaning it is triggered in every timestep.
+If different spawners are to be triggered at the same time the spawner with the highest priority is triggered first.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Spawners></span>
+ <span class="nt"><Spawner></span>
+ <span class="nt"><Library></span>SpawnerScenario<span class="nt"></Library></span>
+ <span class="nt"><Type></span>PreRun<span class="nt"></Type></span>
+ <span class="nt"><Priority></span>1<span class="nt"></Priority></span>
+ <span class="nt"></Spawner></span>
+ <span class="nt"><Spawner></span>
+ <span class="nt"><Library></span>SpawnerPreRunCommon<span class="nt"></Library></span>
+ <span class="nt"><Type></span>PreRun<span class="nt"></Type></span>
+ <span class="nt"><Priority></span>0<span class="nt"></Priority></span>
+ <span class="nt"><Profile></span>DefaultPreRunCommon<span class="nt"></Profile></span>
+ <span class="nt"></Spawner></span>
+ <span class="nt"><Spawner></span>
+ <span class="nt"><Library></span>SpawnerRuntimeCommon<span class="nt"></Library></span>
+ <span class="nt"><Type></span>Runtime<span class="nt"></Type></span>
+ <span class="nt"><Priority></span>0<span class="nt"></Priority></span>
+ <span class="nt"><Profile></span>DefaultRuntimeCommon<span class="nt"></Profile></span>
+ <span class="nt"></Spawner></span>
+ <span class="nt"></Spawners></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="full-example">
+<h2>Full Example<a class="headerlink" href="#full-example" title="Permalink to this headline">¶</a></h2>
+<div class="literal-block-wrapper docutils container" id="id2">
+<div class="code-block-caption"><span class="caption-text">simulationConfig.xml</span><a class="headerlink" href="#id2" title="Permalink to this code">¶</a></div>
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+<span class="normal">81</span></pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="nt"><simulationConfig</span> <span class="na">SchemaVersion=</span><span class="s">"0.8.2"</span><span class="nt">></span>
+ <span class="nt"><ProfilesCatalog></span>ProfilesCatalog.xml<span class="nt"></ProfilesCatalog></span>
+ <span class="nt"><Experiment></span>
+ <span class="nt"><ExperimentID></span>123<span class="nt"></ExperimentID></span>
+ <span class="nt"><NumberOfInvocations></span>1<span class="nt"></NumberOfInvocations></span>
+ <span class="nt"><RandomSeed></span>532725206<span class="nt"></RandomSeed></span>
+ <span class="nt"><Libraries></span>
+ <span class="nt"><WorldLibrary></span>World_OSI<span class="nt"></WorldLibrary></span>
+ <span class="nt"></Libraries></span>
+ <span class="nt"></Experiment></span>
+ <span class="nt"><Scenario></span>
+ <span class="nt"><OpenScenarioFile></span>Scenario.xosc<span class="nt"></OpenScenarioFile></span>
+ <span class="nt"></Scenario></span>
+ <span class="nt"><Environment></span>
+ <span class="nt"><TimeOfDays></span>
+ <span class="nt"><TimeOfDay</span> <span class="na">Probability=</span><span class="s">"0.4"</span> <span class="na">Value=</span><span class="s">"15"</span><span class="nt">/></span>
+ <span class="nt"><TimeOfDay</span> <span class="na">Probability=</span><span class="s">"0.6"</span> <span class="na">Value=</span><span class="s">"18"</span><span class="nt">/></span>
+ <span class="nt"></TimeOfDays></span>
+ <span class="nt"><VisibilityDistances></span>
+ <span class="nt"><VisibilityDistance</span> <span class="na">Probability=</span><span class="s">"0.7"</span> <span class="na">Value=</span><span class="s">"300"</span><span class="nt">/></span>
+ <span class="nt"><VisibilityDistance</span> <span class="na">Probability=</span><span class="s">"0.3"</span> <span class="na">Value=</span><span class="s">"400"</span><span class="nt">/></span>
+ <span class="nt"></VisibilityDistances></span>
+ <span class="nt"><Frictions></span>
+ <span class="nt"><Friction</span> <span class="na">Probability=</span><span class="s">"1.0"</span> <span class="na">Value=</span><span class="s">"1.0"</span><span class="nt">/></span>
+ <span class="nt"></Frictions></span>
+ <span class="nt"><Weathers></span>
+ <span class="nt"><Weather</span> <span class="na">Probability=</span><span class="s">"0.5"</span> <span class="na">Value=</span><span class="s">"Rainy"</span><span class="nt">/></span>
+ <span class="nt"><Weather</span> <span class="na">Probability=</span><span class="s">"0.5"</span> <span class="na">Value=</span><span class="s">"Snowy"</span><span class="nt">/></span>
+ <span class="nt"></Weathers></span>
+ <span class="nt"><TrafficRules></span>Germany<span class="nt"></TrafficRules></span>
+ <span class="nt"></Environment></span>
+ <span class="nt"><Observations></span>
+ <span class="nt"><Observation></span>
+ <span class="nt"><Library></span>Observation_Log<span class="nt"></Library></span>
+ <span class="nt"><Parameters></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"OutputFilename"</span> <span class="na">Value=</span><span class="s">"simulationOutput.xml"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"LoggingCyclicsToCsv"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Trace"</span> <span class="na">Value=</span><span class="s">"XPosition,YPosition,YawAngle"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_RoadPosition"</span> <span class="na">Value=</span><span class="s">"AgentInFront,Lane,PositionRoute,Road,TCoordinate"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_RoadPositionExtended"</span> <span class="na">Value=</span><span class="s">"SecondaryLanes"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Sensor"</span> <span class="na">Value=</span><span class="s">"Sensor*_DetectedAgents,Sensor*_VisibleAgents"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Vehicle"</span> <span class="na">Value=</span><span class="s">"AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Visualization"</span> <span class="na">Value=</span><span class="s">"AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroups"</span> <span class="na">Value=</span><span class="s">"Trace,Visualization,RoadPosition,Sensor"</span><span class="nt">/></span>
+ <span class="nt"></Parameters></span>
+ <span class="nt"></Observation></span>
+ <span class="nt"><Observation></span>
+ <span class="nt"><Library></span>Observation_EntityRepository<span class="nt"></Library></span>
+ <span class="nt"><Parameters></span>
+ <span class="c"><!-- If "FilenamePrefix" is skipped, defaults to Value="Repository" --></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"FilenamePrefix"</span> <span class="na">Value=</span><span class="s">"Repository"</span><span class="nt">/></span>
+ <span class="c"><!-- If "WritePersistentEntities" is skipped, defaults to Value="Consolidated"</span>
+<span class="c"> Options: </span>
+<span class="c"> - Consolidated: Concatenate with {FilenamePrefix}_Run_###.csv for each run</span>
+<span class="c"> - Separate: Write to {FilenamePrefix}_Persistent.csv</span>
+<span class="c"> - Skip: No output for persistent entities</span>
+<span class="c"> --></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"WritePersistentEntities"</span> <span class="na">Value=</span><span class="s">"Consolidated"</span><span class="nt">/></span>
+ <span class="nt"></Parameters></span>
+ <span class="nt"></Observation></span>
+ <span class="nt"></Observations></span>
+ <span class="nt"><Spawners></span>
+ <span class="nt"><Spawner></span>
+ <span class="nt"><Library></span>SpawnerScenario<span class="nt"></Library></span>
+ <span class="nt"><Type></span>PreRun<span class="nt"></Type></span>
+ <span class="nt"><Priority></span>1<span class="nt"></Priority></span>
+ <span class="nt"></Spawner></span>
+ <span class="nt"><Spawner></span>
+ <span class="nt"><Library></span>SpawnerPreRunCommon<span class="nt"></Library></span>
+ <span class="nt"><Type></span>PreRun<span class="nt"></Type></span>
+ <span class="nt"><Priority></span>0<span class="nt"></Priority></span>
+ <span class="nt"><Profile></span>DefaultPreRunCommon<span class="nt"></Profile></span>
+ <span class="nt"></Spawner></span>
+ <span class="nt"><Spawner></span>
+ <span class="nt"><Library></span>SpawnerRuntimeCommon<span class="nt"></Library></span>
+ <span class="nt"><Type></span>Runtime<span class="nt"></Type></span>
+ <span class="nt"><Priority></span>0<span class="nt"></Priority></span>
+ <span class="nt"><Profile></span>DefaultRuntimeCommon<span class="nt"></Profile></span>
+ <span class="nt"></Spawner></span>
+ <span class="nt"></Spawners></span>
+<span class="nt"></simulationConfig></span>
+</pre></div>
+</td></tr></table></div>
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+ <div class="section" id="static-systemconfig">
+<span id="staticsystemconfig"></span><h1>Static SystemConfig<a class="headerlink" href="#static-systemconfig" title="Permalink to this headline">¶</a></h1>
+<p>SystemConfig files are optional.
+They describe static configurations of agents and are therefore an alternative to the dynamic sampling of an agent during runtime.
+The schema is the same as for the <a class="reference internal" href="systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a>.</p>
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diff --git a/content/html/user_guide/sim_user_guide/input/systemconfigblueprint.html b/content/html/user_guide/configs/systemconfigblueprint.html
similarity index 82%
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--- a/content/html/user_guide/sim_user_guide/input/systemconfigblueprint.html
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-<span id="id1"></span><h1>SystemConfigBlueprint<a class="headerlink" href="#systemconfigblueprint" title="Permalink to this headline">¶</a></h1>
-<p>This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents.
-If the simulation uses only statically configured agents (AgentProfile Type attribute is “Static”), this file isn’t required.</p>
-<div class="section" id="agentcomponents">
-<span id="systemconfigblueprint-agentcomponents"></span><h2>AgentComponents<a class="headerlink" href="#agentcomponents" title="Permalink to this headline">¶</a></h2>
-<p>All components are listed here. An agent consists of a subset of this components.</p>
-<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>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Id</p></td>
-<td><p>Used as key by the simulation to find the component</p></td>
-</tr>
-<tr class="row-odd"><td><p>Priority</p></td>
-<td><p>The module with the highest priority value gets executed first by the scheduler</p></td>
-</tr>
-<tr class="row-even"><td><p>Offset</p></td>
-<td><p>Delay for the trigger method of each component in ms</p></td>
-</tr>
-<tr class="row-odd"><td><p>Cycle</p></td>
-<td><p>Interval in which the component gets triggered by the scheduler in ms</p></td>
-</tr>
-<tr class="row-even"><td><p>Response</p></td>
-<td><p>Delay for the UpdateOutput method of each component in ms</p></td>
-</tr>
-<tr class="row-odd"><td><p>Library</p></td>
-<td><p>Library name of this component</p></td>
-</tr>
-<tr class="row-even"><td><p>Parameters</p></td>
-<td><p>Parameters used by the component</p></td>
-</tr>
-</tbody>
-</table>
-<p>Example:
-This example describes the Sensor_Driver module.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><component></span>
- <span class="nt"><id></span>SensorObjectDetector<span class="nt"></id></span>
- <span class="nt"><schedule></span>
- <span class="nt"><priority></span>398<span class="nt"></priority></span>
- <span class="nt"><offset></span>0<span class="nt"></offset></span>
- <span class="nt"><cycle></span>100<span class="nt"></cycle></span>
- <span class="nt"><response></span>0<span class="nt"></response></span>
- <span class="nt"></schedule></span>
- <span class="nt"><library></span>Sensor_OSI<span class="nt"></library></span>
- <span class="nt"><parameters/></span>
-<span class="nt"></component></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="priorities">
-<span id="systemconfigblueprint-priorities"></span><h2>Priorities<a class="headerlink" href="#priorities" title="Permalink to this headline">¶</a></h2>
-<p>Please refer to the [Components and channel communication diagram]]ref dev_concepts_modulecomposition) for assignment of a proper priority.
-Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers.
-Data is then handled by algorithms like Algorithm_Lateral.
-Output-relevant modules like dynamics and actions are executed last.</p>
-<p>Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:
-Level 1 describes data produced by ADAS and drivers.
-Level 2 describes data output by vehicle dynamic controllers.
-Level 3 describes data delivered by dynamics.</p>
-<p>Priorities can be grouped (coarse) as following:
-Highest number indicates highest priority.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 71%" />
-<col style="width: 29%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Scope</p></th>
-<th class="head"><p>Range</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Parameters</p></td>
-<td><p>500</p></td>
-</tr>
-<tr class="row-odd"><td><p>OpenScenarioActions</p></td>
-<td><p>400</p></td>
-</tr>
-<tr class="row-even"><td><p>Sensor</p></td>
-<td><p>350…399</p></td>
-</tr>
-<tr class="row-odd"><td><p>Event</p></td>
-<td><p>330</p></td>
-</tr>
-<tr class="row-even"><td><p>DriverMode</p></td>
-<td><p>310</p></td>
-</tr>
-<tr class="row-odd"><td><p>ADAS</p></td>
-<td><p>250…299</p></td>
-</tr>
-<tr class="row-even"><td><p>ComponentController</p></td>
-<td><p>200</p></td>
-</tr>
-<tr class="row-odd"><td><p>Prioritizer (Lvl. 1)</p></td>
-<td><p>150…199</p></td>
-</tr>
-<tr class="row-even"><td><p>VehicleDynamicsControllers</p></td>
-<td><p>100…149</p></td>
-</tr>
-<tr class="row-odd"><td><p>Prioritizer (Lvl. 2)</p></td>
-<td><p>75…99</p></td>
-</tr>
-<tr class="row-even"><td><p>Dynamics</p></td>
-<td><p>50…74</p></td>
-</tr>
-<tr class="row-odd"><td><p>Prioritizer (Lvl. 3)</p></td>
-<td><p>25…49</p></td>
-</tr>
-<tr class="row-even"><td><p>Updater</p></td>
-<td><p>0…24</p></td>
-</tr>
-</tbody>
-</table>
-<p>The table below can be used as orientation when a new module is introduced.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 17%" />
-<col style="width: 17%" />
-<col style="width: 4%" />
-<col style="width: 11%" />
-<col style="width: 51%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Name</p></th>
-<th class="head"><p>Library</p></th>
-<th class="head"><p>Priority</p></th>
-<th class="head"><p>Scope</p></th>
-<th class="head"><p>Note</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>ParametersAgentModules</p></td>
-<td><p>ParametersAgent</p></td>
-<td><p>500</p></td>
-<td><p>Parameters</p></td>
-<td><p>Sets all init-data and is updated cyclically</p></td>
-</tr>
-<tr class="row-odd"><td><p>OpenScenarioActions</p></td>
-<td><p>OpenScenarioActions</p></td>
-<td><p>400</p></td>
-<td><p>ADAS</p></td>
-<td><p>Reads events from OpenScenario Actions and forwards them to other components</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorObjectDetector</p></td>
-<td><p>Sensor_OSI</p></td>
-<td><p>398</p></td>
-<td><p>Sensor</p></td>
-<td><p>Gets instantiated multiple times (one time per sensor)</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorAggregation</p></td>
-<td><p>SensorAggregation_OSI</p></td>
-<td><p>351</p></td>
-<td><p>Sensor</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>SensorFusionErrorless</p></td>
-<td><p>SensorFusionErrorless_OSI</p></td>
-<td><p>350</p></td>
-<td><p>Sensor</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>AlgorithmAgentFollowingDriverModel</p></td>
-<td><p>AlgorithmAgentFollowingDriverModel</p></td>
-<td><p>310</p></td>
-<td><p>DriverModels</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>AEB</p></td>
-<td><p>AlgorithmAutonomousEmergencyBraking</p></td>
-<td><p>250</p></td>
-<td><p>ADAS</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>ComponentController</p></td>
-<td><p>ComponentController</p></td>
-<td><p>200</p></td>
-<td><p>ADAS</p></td>
-<td><p>Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.</p></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerLaterDriver</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>150</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>PrioritizerAccelerationDriver</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>150</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerTurningIndicator</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>150</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>PrioritizerSteeringVehicleComponents</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>150</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerAccelerationVehicleComponents</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>150</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>LimiterAccelerationVehicleComponents</p></td>
-<td><p>LimiterAccelerationVehicleComponents</p></td>
-<td><p>120</p></td>
-<td><p>VehicleDynamicsControllers</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>AlgorithmLateralDriver</p></td>
-<td><p>AlgorithmLateralDriver</p></td>
-<td><p>100</p></td>
-<td><p>VehicleDynamicsControllers</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>AlgorithmLongitudinalVehicleComponents</p></td>
-<td><p>AlgorithmLongitudinalVehicleComponents</p></td>
-<td><p>100</p></td>
-<td><p>VehicleDynamicsControllers</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>AlgorithmLongitudinalDriver</p></td>
-<td><p>AlgorithmLongitudinalDriver</p></td>
-<td><p>100</p></td>
-<td><p>VehicleDynamicsControllers</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>PrioritizerSteering</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>75</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerLongitudinal</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>75</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>DynamicsCollision</p></td>
-<td><p>DynamicsCollision</p></td>
-<td><p>50</p></td>
-<td><p>Dynamics</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>DynamicsRegularDriving</p></td>
-<td><p>DynamicsRegularDriving</p></td>
-<td><p>50</p></td>
-<td><p>Dynamics</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>DynamicsTrajectoryFollower</p></td>
-<td><p>DynamicsTrajectoryFollower</p></td>
-<td><p>50</p></td>
-<td><p>Dynamics</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerDynamics</p></td>
-<td><p>SignalPrioritizer</p></td>
-<td><p>25</p></td>
-<td><p>Prioritizer</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>SensorRecordStateModule</p></td>
-<td><p>SensorRecordState</p></td>
-<td><p>2</p></td>
-<td><p>Updater</p></td>
-<td><p>Since values are “frozen” for current time step, logging can be placed anywhere</p></td>
-</tr>
-<tr class="row-even"><td><p>ActionLongitudinalDriverModules</p></td>
-<td><p>ActionLongitudinalDriver</p></td>
-<td><p>3</p></td>
-<td><p>Updater</p></td>
-<td><p>Will be expanded to ActionPrimary DriverTasks</p></td>
-</tr>
-<tr class="row-odd"><td><p>ActionSecondaryDriverTasksModules</p></td>
-<td><p>ActionSecondaryDriverTasks</p></td>
-<td><p>3</p></td>
-<td><p>Updater</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>AgentUpdater</p></td>
-<td><p>AgentUpdater</p></td>
-<td><p>1</p></td>
-<td><p>Updater</p></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-</div>
-<div class="section" id="channel-ids">
-<span id="systemconfigblueprint-channelids"></span><h2>Channel-Ids<a class="headerlink" href="#channel-ids" title="Permalink to this headline">¶</a></h2>
-<p>Channels allow components to communicate with each other.
-The signalflow is set explicitly via a channel-Id of 4 digits (see also [Components and channels communication diagram](/ref dev_concepts_modulecomposition)).</p>
-<p>The first two numbers define the sending module (XX 00).
-The other two digits define the type of signal that is sent (00 XX).</p>
-<p>Signals as well as modules can be grouped to allow explicit numbering (see tables below).</p>
-<p>Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)</p>
-<p>Example:
-PrioritizerAccelerationDriver -> AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.</p>
-<p><strong>Ids for Modules (first two digits)</strong></p>
-<p>Index range for module groups:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 63%" />
-<col style="width: 37%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Group</p></th>
-<th class="head"><p>Id</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Dynamics</p></td>
-<td><p>1…10</p></td>
-</tr>
-<tr class="row-odd"><td><p>Algorithm</p></td>
-<td><p>11…30</p></td>
-</tr>
-<tr class="row-even"><td><p>DriverTasks</p></td>
-<td><p>31…40</p></td>
-</tr>
-<tr class="row-odd"><td><p>Driver</p></td>
-<td><p>41…50</p></td>
-</tr>
-<tr class="row-even"><td><p>VehicleComponent</p></td>
-<td><p>51…80</p></td>
-</tr>
-<tr class="row-odd"><td><p>Special</p></td>
-<td><p>81…89</p></td>
-</tr>
-<tr class="row-even"><td><p>Sensor</p></td>
-<td><p>91…99</p></td>
-</tr>
-</tbody>
-</table>
-<p>With corresponding defined indices:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 65%" />
-<col style="width: 27%" />
-<col style="width: 8%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Module</p></th>
-<th class="head"><p>Group</p></th>
-<th class="head"><p>Id</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>AgentUpdater</p></td>
-<td><p>Dynamics</p></td>
-<td><p>1</p></td>
-</tr>
-<tr class="row-odd"><td><p>Dynamics_TrajectoryFollower</p></td>
-<td><p>Dynamics</p></td>
-<td><p>2</p></td>
-</tr>
-<tr class="row-even"><td><p>Dynamics_RegularDriving</p></td>
-<td><p>Dynamics</p></td>
-<td><p>3</p></td>
-</tr>
-<tr class="row-odd"><td><p>Dynamics_Collision</p></td>
-<td><p>Dynamics</p></td>
-<td><p>4</p></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerDynamics</p></td>
-<td><p>Dynamics</p></td>
-<td><p>5</p></td>
-</tr>
-<tr class="row-odd"><td><p>Algorithm_LongitudinalVehicleComponent</p></td>
-<td><p>Algorithm</p></td>
-<td><p>11</p></td>
-</tr>
-<tr class="row-even"><td><p>Algorithm_LongitudinalAfdm</p></td>
-<td><p>Algorithm</p></td>
-<td><p>12</p></td>
-</tr>
-<tr class="row-odd"><td><p>Algorithm_SteeringVehicleComponent</p></td>
-<td><p>Algorithm</p></td>
-<td><p>14</p></td>
-</tr>
-<tr class="row-even"><td><p>Algorithm_LateralVehicleAfdm</p></td>
-<td><p>Algorithm</p></td>
-<td><p>15</p></td>
-</tr>
-<tr class="row-odd"><td><p>LimiterVehicleLongitudinal</p></td>
-<td><p>Algorithm</p></td>
-<td><p>17</p></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerLongitudinal</p></td>
-<td><p>Algorithm</p></td>
-<td><p>21</p></td>
-</tr>
-<tr class="row-odd"><td><p>PrioritizerSteering</p></td>
-<td><p>Algorithm</p></td>
-<td><p>22</p></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerAccelerationVehicleComponents</p></td>
-<td><p>Algorithm</p></td>
-<td><p>23</p></td>
-</tr>
-<tr class="row-odd"><td><p>PrioritizerSteeringVehicleComponents</p></td>
-<td><p>Algorithm</p></td>
-<td><p>24</p></td>
-</tr>
-<tr class="row-even"><td><p>Action_LongitudinalDriver</p></td>
-<td><p>DriverTasks</p></td>
-<td><p>31</p></td>
-</tr>
-<tr class="row-odd"><td><p>Action_SecondaryDriverTasks</p></td>
-<td><p>DriverTasks</p></td>
-<td><p>32</p></td>
-</tr>
-<tr class="row-even"><td><p>PrioritizerTurningIndicator</p></td>
-<td><p>DriverTasks</p></td>
-<td><p>33</p></td>
-</tr>
-<tr class="row-odd"><td><p>AlgorithmAgentFollowingDriver</p></td>
-<td><p>Driver</p></td>
-<td><p>41</p></td>
-</tr>
-<tr class="row-even"><td><p>AEB</p></td>
-<td><p>VehicleComponent</p></td>
-<td><p>52</p></td>
-</tr>
-<tr class="row-odd"><td><p>ComponentController</p></td>
-<td><p>Special</p></td>
-<td><p>83</p></td>
-</tr>
-<tr class="row-even"><td><p>OpenScenarioActions</p></td>
-<td><p>Special</p></td>
-<td><p>84</p></td>
-</tr>
-<tr class="row-odd"><td><p>Parameter_Vehicle</p></td>
-<td><p>Sensor</p></td>
-<td><p>92</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorAggregation</p></td>
-<td><p>Sensor</p></td>
-<td><p>93</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorFusion</p></td>
-<td><p>Sensor</p></td>
-<td><p>94</p></td>
-</tr>
-<tr class="row-even"><td><p>Sensor_Driver</p></td>
-<td><p>Sensor</p></td>
-<td><p>95</p></td>
-</tr>
-</tbody>
-</table>
-<p><strong>Ids for Signals (last two digits)</strong></p>
-<p>Index range for signal groups:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 67%" />
-<col style="width: 33%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Group</p></th>
-<th class="head"><p>Id</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Dynamics</p></td>
-<td><p>1…10</p></td>
-</tr>
-<tr class="row-odd"><td><p>Algorithm</p></td>
-<td><p>11…30</p></td>
-</tr>
-<tr class="row-even"><td><p>OpenScenarioActions</p></td>
-<td><p>61…70</p></td>
-</tr>
-<tr class="row-odd"><td><p>Special</p></td>
-<td><p>71…80</p></td>
-</tr>
-<tr class="row-even"><td><p>Sensor</p></td>
-<td><p>81…90</p></td>
-</tr>
-<tr class="row-odd"><td><p>Parameters</p></td>
-<td><p>91…99</p></td>
-</tr>
-</tbody>
-</table>
-<p>With corresponding defined indices:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 61%" />
-<col style="width: 31%" />
-<col style="width: 8%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Signal</p></th>
-<th class="head"><p>Group</p></th>
-<th class="head"><p>Id</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Dynamics</p></td>
-<td><p>Dynamics</p></td>
-<td><p>01</p></td>
-</tr>
-<tr class="row-odd"><td><p>Longitudinal</p></td>
-<td><p>Algorithm</p></td>
-<td><p>11</p></td>
-</tr>
-<tr class="row-even"><td><p>Steering</p></td>
-<td><p>Algorithm</p></td>
-<td><p>12</p></td>
-</tr>
-<tr class="row-odd"><td><p>Acceleration</p></td>
-<td><p>Algorithm</p></td>
-<td><p>13</p></td>
-</tr>
-<tr class="row-even"><td><p>Lateral</p></td>
-<td><p>Algorithm</p></td>
-<td><p>14</p></td>
-</tr>
-<tr class="row-odd"><td><p>SecondaryDriverTasks</p></td>
-<td><p>Algorithm</p></td>
-<td><p>19</p></td>
-</tr>
-<tr class="row-even"><td><p>Trajectory</p></td>
-<td><p>OpenScenarioActions</p></td>
-<td><p>71</p></td>
-</tr>
-<tr class="row-odd"><td><p>AcquireGlobalPosition</p></td>
-<td><p>OpenScenarioActions</p></td>
-<td><p>62</p></td>
-</tr>
-<tr class="row-even"><td><p>CustomParameters (CustomCommandAction)</p></td>
-<td><p>OpenScenarioActions</p></td>
-<td><p>63</p></td>
-</tr>
-<tr class="row-odd"><td><p>SensorDriver</p></td>
-<td><p>Sensor</p></td>
-<td><p>81</p></td>
-</tr>
-<tr class="row-even"><td><p>SensorData</p></td>
-<td><p>Sensor</p></td>
-<td><p>90</p></td>
-</tr>
-<tr class="row-odd"><td><p>ParametersVehicle</p></td>
-<td><p>Parameters</p></td>
-<td><p>92</p></td>
-</tr>
-</tbody>
-</table>
-</div>
-<div class="section" id="parameters">
-<span id="systemconfigblueprint-parameters"></span><h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></h2>
-<p>For more information on the type of parameters (escpecially stochastic distributions), please refer to the [ProfilesGroup section](ref io_input_profilescatalog_profileGroups).</p>
-<p><strong>Important Note:</strong> The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax.
-See the following example:</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><parameters></span>
- <span class="nt"><parameter></span>
- <span class="nt"><id></span>StringParameter<span class="nt"></id></span>
- <span class="nt"><type></span>string<span class="nt"></type></span>
- <span class="nt"><unit/></span>
- <span class="nt"><value></span>Lorem ipsum<span class="nt"></value></span>
- <span class="nt"></parameter></span>
- <span class="nt"><parameter></span>
- <span class="nt"><id></span>RandomParameter<span class="nt"></id></span>
- <span class="nt"><type></span>normalDistribution<span class="nt"></type></span>
- <span class="nt"><unit/></span>
- <span class="nt"><value></span>
- <span class="nt"><mean></span>15.0<span class="nt"></mean></span>
- <span class="nt"><sd></span>2.5<span class="nt"></sd></span>
- <span class="nt"><min></span>10.0<span class="nt"></min></span>
- <span class="nt"><max></span>20.0<span class="nt"></max></span>
- <span class="nt"></value></span>
- <span class="nt"></parameter></span>
-<span class="nt"></parameters></span>
-</pre></div>
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+ <div class="section" id="systemconfigblueprint">
+<span id="id1"></span><h1>SystemConfigBlueprint<a class="headerlink" href="#systemconfigblueprint" title="Permalink to this headline">¶</a></h1>
+<p>This file contains the possible agent modules and channels of a dynamically generated agent. The content of this file should only be adjusted by experienced users with knowledge of the simulation architecture. The SystemConfigBlueprint is a special SystemConfig and has the same schema. Only the system with id 0 is used for generating dynamic agents.
+If the simulation uses only statically configured agents (AgentProfile Type attribute is “Static”), this file isn’t required.</p>
+<div class="section" id="agentcomponents">
+<span id="systemconfigblueprint-agentcomponents"></span><h2>AgentComponents<a class="headerlink" href="#agentcomponents" title="Permalink to this headline">¶</a></h2>
+<p>All components are listed here. An agent consists of a subset of this components.</p>
+<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>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Id</p></td>
+<td><p>Used as key by the simulation to find the component</p></td>
+</tr>
+<tr class="row-odd"><td><p>Priority</p></td>
+<td><p>The module with the highest priority value gets executed first by the scheduler</p></td>
+</tr>
+<tr class="row-even"><td><p>Offset</p></td>
+<td><p>Delay for the trigger method of each component in ms</p></td>
+</tr>
+<tr class="row-odd"><td><p>Cycle</p></td>
+<td><p>Interval in which the component gets triggered by the scheduler in ms</p></td>
+</tr>
+<tr class="row-even"><td><p>Response</p></td>
+<td><p>Delay for the UpdateOutput method of each component in ms</p></td>
+</tr>
+<tr class="row-odd"><td><p>Library</p></td>
+<td><p>Library name of this component</p></td>
+</tr>
+<tr class="row-even"><td><p>Parameters</p></td>
+<td><p>Parameters used by the component</p></td>
+</tr>
+</tbody>
+</table>
+<p>Example:
+This example describes the Sensor_Driver module.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><component></span>
+ <span class="nt"><id></span>SensorObjectDetector<span class="nt"></id></span>
+ <span class="nt"><schedule></span>
+ <span class="nt"><priority></span>398<span class="nt"></priority></span>
+ <span class="nt"><offset></span>0<span class="nt"></offset></span>
+ <span class="nt"><cycle></span>100<span class="nt"></cycle></span>
+ <span class="nt"><response></span>0<span class="nt"></response></span>
+ <span class="nt"></schedule></span>
+ <span class="nt"><library></span>Sensor_OSI<span class="nt"></library></span>
+ <span class="nt"><parameters/></span>
+<span class="nt"></component></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="priorities">
+<span id="systemconfigblueprint-priorities"></span><h2>Priorities<a class="headerlink" href="#priorities" title="Permalink to this headline">¶</a></h2>
+<p>Please refer to the <a class="reference internal" href="../../advanced_topics/simulator/agent_components.html#component-channel-communication"><span class="std std-ref">Components and channel communication diagram</span></a> for assignment of a proper priority.
+Based on the signal flow, input relevant components like sensors need to be executed first. They provide data for consuming components (algorithms) like ADAS and drivers.
+Data is then handled by algorithms like Algorithm_Lateral.
+Output-relevant modules like dynamics and actions are executed last.</p>
+<p>Prioritizer can be applied on different levels depending on the modules/data they need to handle levels as following can be defined:
+Level 1 describes data produced by ADAS and drivers.
+Level 2 describes data output by vehicle dynamic controllers.
+Level 3 describes data delivered by dynamics.</p>
+<p>Priorities can be grouped (coarse) as following:
+Highest number indicates highest priority.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 71%" />
+<col style="width: 29%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Scope</p></th>
+<th class="head"><p>Range</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Parameters</p></td>
+<td><p>500</p></td>
+</tr>
+<tr class="row-odd"><td><p>OpenScenarioActions</p></td>
+<td><p>400</p></td>
+</tr>
+<tr class="row-even"><td><p>Sensor</p></td>
+<td><p>350…399</p></td>
+</tr>
+<tr class="row-odd"><td><p>Event</p></td>
+<td><p>330</p></td>
+</tr>
+<tr class="row-even"><td><p>DriverMode</p></td>
+<td><p>310</p></td>
+</tr>
+<tr class="row-odd"><td><p>ADAS</p></td>
+<td><p>250…299</p></td>
+</tr>
+<tr class="row-even"><td><p>ComponentController</p></td>
+<td><p>200</p></td>
+</tr>
+<tr class="row-odd"><td><p>Prioritizer (Lvl. 1)</p></td>
+<td><p>150…199</p></td>
+</tr>
+<tr class="row-even"><td><p>VehicleDynamicsControllers</p></td>
+<td><p>100…149</p></td>
+</tr>
+<tr class="row-odd"><td><p>Prioritizer (Lvl. 2)</p></td>
+<td><p>75…99</p></td>
+</tr>
+<tr class="row-even"><td><p>Dynamics</p></td>
+<td><p>50…74</p></td>
+</tr>
+<tr class="row-odd"><td><p>Prioritizer (Lvl. 3)</p></td>
+<td><p>25…49</p></td>
+</tr>
+<tr class="row-even"><td><p>Updater</p></td>
+<td><p>0…24</p></td>
+</tr>
+</tbody>
+</table>
+<p>The table below can be used as orientation when a new module is introduced.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 17%" />
+<col style="width: 17%" />
+<col style="width: 4%" />
+<col style="width: 11%" />
+<col style="width: 51%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Name</p></th>
+<th class="head"><p>Library</p></th>
+<th class="head"><p>Priority</p></th>
+<th class="head"><p>Scope</p></th>
+<th class="head"><p>Note</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>ParametersAgentModules</p></td>
+<td><p>ParametersAgent</p></td>
+<td><p>500</p></td>
+<td><p>Parameters</p></td>
+<td><p>Sets all init-data and is updated cyclically</p></td>
+</tr>
+<tr class="row-odd"><td><p>OpenScenarioActions</p></td>
+<td><p>OpenScenarioActions</p></td>
+<td><p>400</p></td>
+<td><p>ADAS</p></td>
+<td><p>Reads events from OpenScenario Actions and forwards them to other components</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorObjectDetector</p></td>
+<td><p>Sensor_OSI</p></td>
+<td><p>398</p></td>
+<td><p>Sensor</p></td>
+<td><p>Gets instantiated multiple times (one time per sensor)</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorAggregation</p></td>
+<td><p>SensorAggregation_OSI</p></td>
+<td><p>351</p></td>
+<td><p>Sensor</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>SensorFusionErrorless</p></td>
+<td><p>SensorFusionErrorless_OSI</p></td>
+<td><p>350</p></td>
+<td><p>Sensor</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>AlgorithmAgentFollowingDriverModel</p></td>
+<td><p>AlgorithmAgentFollowingDriverModel</p></td>
+<td><p>310</p></td>
+<td><p>DriverModels</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>AEB</p></td>
+<td><p>AlgorithmAutonomousEmergencyBraking</p></td>
+<td><p>250</p></td>
+<td><p>ADAS</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>ComponentController</p></td>
+<td><p>ComponentController</p></td>
+<td><p>200</p></td>
+<td><p>ADAS</p></td>
+<td><p>Manages vehicle component states with regard to other vehicle component states and conditions and in response to events.</p></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerLaterDriver</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>150</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>PrioritizerAccelerationDriver</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>150</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerTurningIndicator</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>150</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>PrioritizerSteeringVehicleComponents</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>150</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerAccelerationVehicleComponents</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>150</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>LimiterAccelerationVehicleComponents</p></td>
+<td><p>LimiterAccelerationVehicleComponents</p></td>
+<td><p>120</p></td>
+<td><p>VehicleDynamicsControllers</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>AlgorithmLateralDriver</p></td>
+<td><p>AlgorithmLateralDriver</p></td>
+<td><p>100</p></td>
+<td><p>VehicleDynamicsControllers</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>AlgorithmLongitudinalVehicleComponents</p></td>
+<td><p>AlgorithmLongitudinalVehicleComponents</p></td>
+<td><p>100</p></td>
+<td><p>VehicleDynamicsControllers</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>AlgorithmLongitudinalDriver</p></td>
+<td><p>AlgorithmLongitudinalDriver</p></td>
+<td><p>100</p></td>
+<td><p>VehicleDynamicsControllers</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>PrioritizerSteering</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>75</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerLongitudinal</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>75</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>DynamicsCollision</p></td>
+<td><p>DynamicsCollision</p></td>
+<td><p>50</p></td>
+<td><p>Dynamics</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>DynamicsRegularDriving</p></td>
+<td><p>DynamicsRegularDriving</p></td>
+<td><p>50</p></td>
+<td><p>Dynamics</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>DynamicsTrajectoryFollower</p></td>
+<td><p>DynamicsTrajectoryFollower</p></td>
+<td><p>50</p></td>
+<td><p>Dynamics</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerDynamics</p></td>
+<td><p>SignalPrioritizer</p></td>
+<td><p>25</p></td>
+<td><p>Prioritizer</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>SensorRecordStateModule</p></td>
+<td><p>SensorRecordState</p></td>
+<td><p>2</p></td>
+<td><p>Updater</p></td>
+<td><p>Since values are “frozen” for current time step, logging can be placed anywhere</p></td>
+</tr>
+<tr class="row-even"><td><p>ActionLongitudinalDriverModules</p></td>
+<td><p>ActionLongitudinalDriver</p></td>
+<td><p>3</p></td>
+<td><p>Updater</p></td>
+<td><p>Will be expanded to ActionPrimary DriverTasks</p></td>
+</tr>
+<tr class="row-odd"><td><p>ActionSecondaryDriverTasksModules</p></td>
+<td><p>ActionSecondaryDriverTasks</p></td>
+<td><p>3</p></td>
+<td><p>Updater</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>AgentUpdater</p></td>
+<td><p>AgentUpdater</p></td>
+<td><p>1</p></td>
+<td><p>Updater</p></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="channel-ids">
+<span id="systemconfigblueprint-channelids"></span><h2>Channel-Ids<a class="headerlink" href="#channel-ids" title="Permalink to this headline">¶</a></h2>
+<p>Channels allow components to communicate with each other.
+The signal flow is set explicitly via a channel-Id of 4 digits (see also <a class="reference internal" href="../../advanced_topics/simulator/agent_components.html#component-channel-communication"><span class="std std-ref">Components and channels communication diagram</span></a>).</p>
+<p>The first two numbers define the sending module (XX 00).
+The other two digits define the type of signal that is sent (00 XX).</p>
+<p>Signals as well as modules can be grouped to allow explicit numbering (see tables below).</p>
+<p>Channel-Ids between Sensor and SensorFusion are an exception to this rule. For sensor/sensor fusion communication channel-ids are 9900 + x (incremented for every new sensor)</p>
+<p>Example:
+PrioritizerAccelerationDriver -> AlgorithmLongitudinalDriver with signal of type AccelerationSignal: 1813.</p>
+<p><strong>Ids for Modules (first two digits)</strong></p>
+<p>Index range for module groups:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 63%" />
+<col style="width: 37%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Group</p></th>
+<th class="head"><p>Id</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Dynamics</p></td>
+<td><p>1…10</p></td>
+</tr>
+<tr class="row-odd"><td><p>Algorithm</p></td>
+<td><p>11…30</p></td>
+</tr>
+<tr class="row-even"><td><p>DriverTasks</p></td>
+<td><p>31…40</p></td>
+</tr>
+<tr class="row-odd"><td><p>Driver</p></td>
+<td><p>41…50</p></td>
+</tr>
+<tr class="row-even"><td><p>VehicleComponent</p></td>
+<td><p>51…80</p></td>
+</tr>
+<tr class="row-odd"><td><p>Special</p></td>
+<td><p>81…89</p></td>
+</tr>
+<tr class="row-even"><td><p>Sensor</p></td>
+<td><p>91…99</p></td>
+</tr>
+</tbody>
+</table>
+<p>With corresponding defined indices:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 65%" />
+<col style="width: 27%" />
+<col style="width: 8%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Module</p></th>
+<th class="head"><p>Group</p></th>
+<th class="head"><p>Id</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>AgentUpdater</p></td>
+<td><p>Dynamics</p></td>
+<td><p>1</p></td>
+</tr>
+<tr class="row-odd"><td><p>Dynamics_TrajectoryFollower</p></td>
+<td><p>Dynamics</p></td>
+<td><p>2</p></td>
+</tr>
+<tr class="row-even"><td><p>Dynamics_RegularDriving</p></td>
+<td><p>Dynamics</p></td>
+<td><p>3</p></td>
+</tr>
+<tr class="row-odd"><td><p>Dynamics_Collision</p></td>
+<td><p>Dynamics</p></td>
+<td><p>4</p></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerDynamics</p></td>
+<td><p>Dynamics</p></td>
+<td><p>5</p></td>
+</tr>
+<tr class="row-odd"><td><p>Algorithm_LongitudinalVehicleComponent</p></td>
+<td><p>Algorithm</p></td>
+<td><p>11</p></td>
+</tr>
+<tr class="row-even"><td><p>Algorithm_LongitudinalAfdm</p></td>
+<td><p>Algorithm</p></td>
+<td><p>12</p></td>
+</tr>
+<tr class="row-odd"><td><p>Algorithm_SteeringVehicleComponent</p></td>
+<td><p>Algorithm</p></td>
+<td><p>14</p></td>
+</tr>
+<tr class="row-even"><td><p>Algorithm_LateralVehicleAfdm</p></td>
+<td><p>Algorithm</p></td>
+<td><p>15</p></td>
+</tr>
+<tr class="row-odd"><td><p>LimiterVehicleLongitudinal</p></td>
+<td><p>Algorithm</p></td>
+<td><p>17</p></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerLongitudinal</p></td>
+<td><p>Algorithm</p></td>
+<td><p>21</p></td>
+</tr>
+<tr class="row-odd"><td><p>PrioritizerSteering</p></td>
+<td><p>Algorithm</p></td>
+<td><p>22</p></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerAccelerationVehicleComponents</p></td>
+<td><p>Algorithm</p></td>
+<td><p>23</p></td>
+</tr>
+<tr class="row-odd"><td><p>PrioritizerSteeringVehicleComponents</p></td>
+<td><p>Algorithm</p></td>
+<td><p>24</p></td>
+</tr>
+<tr class="row-even"><td><p>Action_LongitudinalDriver</p></td>
+<td><p>DriverTasks</p></td>
+<td><p>31</p></td>
+</tr>
+<tr class="row-odd"><td><p>Action_SecondaryDriverTasks</p></td>
+<td><p>DriverTasks</p></td>
+<td><p>32</p></td>
+</tr>
+<tr class="row-even"><td><p>PrioritizerTurningIndicator</p></td>
+<td><p>DriverTasks</p></td>
+<td><p>33</p></td>
+</tr>
+<tr class="row-odd"><td><p>AlgorithmAgentFollowingDriver</p></td>
+<td><p>Driver</p></td>
+<td><p>41</p></td>
+</tr>
+<tr class="row-even"><td><p>AEB</p></td>
+<td><p>VehicleComponent</p></td>
+<td><p>52</p></td>
+</tr>
+<tr class="row-odd"><td><p>ComponentController</p></td>
+<td><p>Special</p></td>
+<td><p>83</p></td>
+</tr>
+<tr class="row-even"><td><p>OpenScenarioActions</p></td>
+<td><p>Special</p></td>
+<td><p>84</p></td>
+</tr>
+<tr class="row-odd"><td><p>Parameter_Vehicle</p></td>
+<td><p>Sensor</p></td>
+<td><p>92</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorAggregation</p></td>
+<td><p>Sensor</p></td>
+<td><p>93</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorFusion</p></td>
+<td><p>Sensor</p></td>
+<td><p>94</p></td>
+</tr>
+<tr class="row-even"><td><p>Sensor_Driver</p></td>
+<td><p>Sensor</p></td>
+<td><p>95</p></td>
+</tr>
+</tbody>
+</table>
+<p><strong>Ids for Signals (last two digits)</strong></p>
+<p>Index range for signal groups:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 67%" />
+<col style="width: 33%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Group</p></th>
+<th class="head"><p>Id</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Dynamics</p></td>
+<td><p>1…10</p></td>
+</tr>
+<tr class="row-odd"><td><p>Algorithm</p></td>
+<td><p>11…30</p></td>
+</tr>
+<tr class="row-even"><td><p>OpenScenarioActions</p></td>
+<td><p>61…70</p></td>
+</tr>
+<tr class="row-odd"><td><p>Special</p></td>
+<td><p>71…80</p></td>
+</tr>
+<tr class="row-even"><td><p>Sensor</p></td>
+<td><p>81…90</p></td>
+</tr>
+<tr class="row-odd"><td><p>Parameters</p></td>
+<td><p>91…99</p></td>
+</tr>
+</tbody>
+</table>
+<p>With corresponding defined indices:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 61%" />
+<col style="width: 31%" />
+<col style="width: 8%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Signal</p></th>
+<th class="head"><p>Group</p></th>
+<th class="head"><p>Id</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Dynamics</p></td>
+<td><p>Dynamics</p></td>
+<td><p>01</p></td>
+</tr>
+<tr class="row-odd"><td><p>Longitudinal</p></td>
+<td><p>Algorithm</p></td>
+<td><p>11</p></td>
+</tr>
+<tr class="row-even"><td><p>Steering</p></td>
+<td><p>Algorithm</p></td>
+<td><p>12</p></td>
+</tr>
+<tr class="row-odd"><td><p>Acceleration</p></td>
+<td><p>Algorithm</p></td>
+<td><p>13</p></td>
+</tr>
+<tr class="row-even"><td><p>Lateral</p></td>
+<td><p>Algorithm</p></td>
+<td><p>14</p></td>
+</tr>
+<tr class="row-odd"><td><p>SecondaryDriverTasks</p></td>
+<td><p>Algorithm</p></td>
+<td><p>19</p></td>
+</tr>
+<tr class="row-even"><td><p>Trajectory</p></td>
+<td><p>OpenScenarioActions</p></td>
+<td><p>71</p></td>
+</tr>
+<tr class="row-odd"><td><p>AcquireGlobalPosition</p></td>
+<td><p>OpenScenarioActions</p></td>
+<td><p>62</p></td>
+</tr>
+<tr class="row-even"><td><p>CustomParameters (CustomCommandAction)</p></td>
+<td><p>OpenScenarioActions</p></td>
+<td><p>63</p></td>
+</tr>
+<tr class="row-odd"><td><p>SensorDriver</p></td>
+<td><p>Sensor</p></td>
+<td><p>81</p></td>
+</tr>
+<tr class="row-even"><td><p>SensorData</p></td>
+<td><p>Sensor</p></td>
+<td><p>90</p></td>
+</tr>
+<tr class="row-odd"><td><p>ParametersVehicle</p></td>
+<td><p>Parameters</p></td>
+<td><p>92</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="parameters">
+<span id="systemconfigblueprint-parameters"></span><h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this headline">¶</a></h2>
+<p>For more information on the type of parameters (especially stochastic distributions), please refer to the <a class="reference internal" href="profilescatalog.html#profilescatalog-profilegroups"><span class="std std-ref">ProfilesGroup section</span></a>.</p>
+<p><strong>Important Note:</strong> The syntax for defining parameters in the SystemConfigBlueprint file differs from the ProfilesCatalog syntax.
+See the following example:</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><parameters></span>
+ <span class="nt"><parameter></span>
+ <span class="nt"><id></span>StringParameter<span class="nt"></id></span>
+ <span class="nt"><type></span>string<span class="nt"></type></span>
+ <span class="nt"><unit/></span>
+ <span class="nt"><value></span>Lorem ipsum<span class="nt"></value></span>
+ <span class="nt"></parameter></span>
+ <span class="nt"><parameter></span>
+ <span class="nt"><id></span>RandomParameter<span class="nt"></id></span>
+ <span class="nt"><type></span>normalDistribution<span class="nt"></type></span>
+ <span class="nt"><unit/></span>
+ <span class="nt"><value></span>
+ <span class="nt"><mean></span>15.0<span class="nt"></mean></span>
+ <span class="nt"><sd></span>2.5<span class="nt"></sd></span>
+ <span class="nt"><min></span>10.0<span class="nt"></min></span>
+ <span class="nt"><max></span>20.0<span class="nt"></max></span>
+ <span class="nt"></value></span>
+ <span class="nt"></parameter></span>
+<span class="nt"></parameters></span>
+</pre></div>
+</div>
+</div>
+</div>
+
+
+ </div>
+
+ </div>
+ <footer>
+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
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+<li class="toctree-l1"><a class="reference internal" href="../../installation_guide/30_install_openpass.html">Installing OpenPASS</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="#general">General</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#path-settings">Path Settings</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#simulation-output-settings">Simulation Output Settings</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/20_documentation.html">Documentation Concept</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../other_information/10_external_dependencies.html">External Dependencies</a></li>
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+
+ <div class="section" id="project">
+<span id="id1"></span><h1>Project<a class="headerlink" href="#project" title="Permalink to this headline">¶</a></h1>
+<p>The Project Plugin can be used to simply start a simulation from the gui.</p>
+<img alt="../../_images/overview.png" src="../../_images/overview.png" />
+<p>Before the simulation adjustments begin, the user is obligated to load or create a “Simulation Manager Configuration” (<cite>opSimulationManager.xml</cite>).
+Such a configuration in openPASS can be understood as a project.
+It is a XML-File which get inscribed the path settings and simulation settings after you click <strong>SAVE</strong>.</p>
+<div class="section" id="general">
+<h2>General<a class="headerlink" href="#general" title="Permalink to this headline">¶</a></h2>
+<img alt="../../_images/general.png" src="../../_images/general.png" />
+<p>In this segment you are able to name the Simulation Manager Configuration.</p>
+</div>
+<div class="section" id="path-settings">
+<h2>Path Settings<a class="headerlink" href="#path-settings" title="Permalink to this headline">¶</a></h2>
+<img alt="../../_images/pathSettings.png" src="../../_images/pathSettings.png" />
+<p>The next step is path settings.
+These will change depending on where your openPASS.exe is located.
+In the screen shot above the openPASS.exe is located at <code class="docutils literal notranslate"><span class="pre">C:/OpenPASS</span></code>.
+For easier use of this tutorial it is recommended to save the Demo Folder in <code class="docutils literal notranslate"><span class="pre">C:/</span></code> and name it <em>OpenPASS</em>.
+On to the settings.
+As you can see three paths need to be set.
+The library comes with openPASS.
+There are plans to remove the option for the user to set the library path, but at this moment there is still the option to change it, although this is not recommended.
+The Simulation Path references the opSimulation.exe, the file to execute the simulation.
+If you are using the provided Demo, there is no need for you to change it.
+The only path you need to set is the path of the Configuration Files.
+In the Demo it will be located at <code class="docutils literal notranslate"><span class="pre">[directory</span> <span class="pre">of</span> <span class="pre">openPASS.exe]/configs</span></code>, so in this case it would be <code class="docutils literal notranslate"><span class="pre">C:/OpenPASS/configs</span></code>.</p>
+</div>
+<div class="section" id="simulation-output-settings">
+<h2>Simulation Output Settings<a class="headerlink" href="#simulation-output-settings" title="Permalink to this headline">¶</a></h2>
+<img alt="../../_images/simOutputSettings.png" src="../../_images/simOutputSettings.png" />
+<p>Next step is the Simulation Output Settings. There are three output files. First is the log file of the simulation manager.
+However, when simulation jobs are started by the GUI, the openPASS simulation manager is not executed and, hence, the log will not contain any entries.
+Second is the log file created by the simulation. In this log file you will find error messages, actions of the simulation etc. depending on the log level.
+The Log level lets you choose which type of messages are logged. “0” means that only errors are logged,
+whereas the highest log level of “5” leads to the most detailed description of which steps are executed by the simulation.
+The results path specifies the folder in which the results of a successful simulation will be saved.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It is recommended to create a new folder in C:/OpenPASS called “results” and set it as the results path as in the picture above.</p>
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+ <div class="section" id="system-editor">
+<span id="id1"></span><h1>System Editor<a class="headerlink" href="#system-editor" title="Permalink to this headline">¶</a></h1>
+<p>The System Editor helps building the system configuration (systemConfig) in the GUI.
+This file is also a XML-file and specifies the components of an agent and systems used, in this case advanced driver assistance systems.</p>
+<p>The editing of the System Configuration has two modes: the static and dynamic mode.</p>
+<p>The <strong>static mode</strong> requires the user to build a complete system which includes sensors, algorithms and actions.
+As the actions directly manipulate the simulated vehicle’s parameters, which are the same no matter the system (i.e. gas pedal position, braking pedal position, steering wheel angle), there is no need to code the interaction between system and simulation.</p>
+<p>At this point there is no support for supporting statistical inclusion of systems in the static mode.
+The current demo only provides an example for the static mode (a System Configuration of an agent to follow a PCM trajectory), so make sure you have the static mode selected.</p>
+<p>The <strong>dynamic mode</strong> is covered by the Scenario Simulation User guide.</p>
+<img alt="../../_images/overview1.png" src="../../_images/overview1.png" />
+</div>
+
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+<li class="toctree-l2"><a class="reference internal" href="10_projects.html">Project</a></li>
+<li class="toctree-l2"><a class="reference internal" href="20_system_editor.html">System Editor</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">PCM Simulation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#simulation-input">Simulation Input</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#simulation-output">Simulation Output</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#simulation-configuration">Simulation Configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#variation">Variation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#simulation-start">Simulation Start</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#save-load-experiment">Save / Load Experiment</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#result-folder-structure">Result Folder Structure</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="50_result_visualization.html">Result Visualization</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../40_configs_in_depth.html">Configs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../50_outputs_in_depth.html">Outputs in Depth</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../60_scenario_simulation.html">Simulator</a></li>
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+ <div class="section" id="pcm-simulation">
+<span id="pcm-sim"></span><h1>PCM Simulation<a class="headerlink" href="#pcm-simulation" title="Permalink to this headline">¶</a></h1>
+<p>This plugin is used to configure and start a simulation based pcm data or simulation configuration sets of previous simulations.</p>
+<div class="section" id="simulation-input">
+<h2>Simulation Input<a class="headerlink" href="#simulation-input" title="Permalink to this headline">¶</a></h2>
+<ul>
+<li><p><strong>UseCase: Database</strong></p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Select the radio button <code class="docutils literal notranslate"><span class="pre">PCM</span> <span class="pre">Database</span></code></p></li>
+<li><p>Select a PCM database file</p></li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
+<img alt="../../_images/input_db.png" src="../../_images/input_db.png" />
+<ul>
+<li><p><strong>UseCase: Resimulation</strong></p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Select the radio button <code class="docutils literal notranslate"><span class="pre">Simulation</span> <span class="pre">Results</span></code></p></li>
+<li><p>Select a folder with previous Results</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The selected output folder must be different to the input folder</p>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>To ensure that the previous results are correctly read, the folder structure of the results has to follow the structure the GUI itself generates when the simulation is started from a database.
+Only the configuration files of the default folders are loaded. No variation is loaded and taken into account at this place.</p>
+</div>
+</div></blockquote>
+</li>
+</ul>
+<img alt="../../_images/input_resim.png" src="../../_images/input_resim.png" />
+</div>
+<div class="section" id="simulation-output">
+<h2>Simulation Output<a class="headerlink" href="#simulation-output" title="Permalink to this headline">¶</a></h2>
+<blockquote>
+<div><ul>
+<li><p>In <code class="docutils literal notranslate"><span class="pre">Result</span> <span class="pre">Folder</span></code> you can select a folder where the output shall be written</p></li>
+<li><p>In <code class="docutils literal notranslate"><span class="pre">Log</span> <span class="pre">Level</span></code> you can define at what level a logging output shall be produced</p>
+<blockquote>
+<div><ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">Error</span></code> - Log only Errors</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Warning</span></code> - Log additionally warnings</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Info</span></code> - Log additionally information</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Debug</span></code> - Log additionally debug information</p></li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
+</div></blockquote>
+<img alt="../../_images/output.png" src="../../_images/output.png" />
+</div>
+<div class="section" id="simulation-configuration">
+<h2>Simulation Configuration<a class="headerlink" href="#simulation-configuration" title="Permalink to this headline">¶</a></h2>
+<p>At this point, the User is able to choose what system configuration shall be used for each agent.
+The User can either select one or multiple system configuration files (comma separated).
+In the case of multiple files are configured, there will be unique sets of simulation configuration files generated for each possible combination, which are placed in folders named / coded like <code class="docutils literal notranslate"><span class="pre"><Car1_Index>-<Car2_Index>-<Other_Index></span></code> e.g. <code class="docutils literal notranslate"><span class="pre">1-0-2</span></code></p>
+<img alt="../../_images/system_config.png" src="../../_images/system_config.png" />
+</div>
+<div class="section" id="variation">
+<h2>Variation<a class="headerlink" href="#variation" title="Permalink to this headline">¶</a></h2>
+<ul>
+<li><p>The random seed can be set to a specific initial random seed by <code class="docutils literal notranslate"><span class="pre">using</span> <span class="pre">a</span> <span class="pre">given</span> <span class="pre">value</span></code> or just by <code class="docutils literal notranslate"><span class="pre">using</span> <span class="pre">the</span> <span class="pre">case</span> <span class="pre">number</span></code></p></li>
+<li><p>The number runs can with different random seed can be set by changing <code class="docutils literal notranslate"><span class="pre">Variation</span> <span class="pre">Count</span></code></p></li>
+<li><p>The original trajectory can be shifted randomly by setting the <code class="docutils literal notranslate"><span class="pre">Shift</span> <span class="pre">radius</span></code> for <em>Car1</em> and <em>Car2</em></p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Given a shift radius R for a vehicle</p></li>
+<li><p>For each position P in trajectory, it shifted position P’ is calculated by randomly generating a distance D (D<= R) and a relative angle in polar coordinate</p></li>
+</ul>
+<div class="math">
+<p><span class="math">`x_{\text{new}}(t) = x(t) + \delta x`
+`y_{\text{new}}(t) = x(y) + \delta y`</span></p>
+</div></div></blockquote>
+</li>
+</ul>
+<img alt="../../_images/trajectory_shifting.png" src="../../_images/trajectory_shifting.png" />
+<ul>
+<li><p>The original velocity can be scaled randomly by setting the <code class="docutils literal notranslate"><span class="pre">Max</span> <span class="pre">scale</span></code> for <em>Car1</em> and <em>Car2</em></p></li>
+<li><p>Given a velocity deviation :math <cite>delta V</cite> for a vehicle</p></li>
+<li><p>In a trajectory, a position P_{i} is represented as</p>
+<blockquote>
+<div><div class="math">
+<p><span class="math">`x(t) = x_{0} + \int_{0}^{t} v_{x} (t) dt`
+`y(t) = y_{0} + \int_{0}^{t} v_{y} (t) dt`</span></p>
+</div></div></blockquote>
+</li>
+<li><p>The new position P_{i} can be represented as</p>
+<div class="math">
+<p><span class="math">`x(t) = x_{0} + k \int_{0}^{t} v_{x} (t) dt`
+`y(t) = y_{0} + k \int_{0}^{t} v_{y} (t) dt`</span></p>
+</div></li>
+<li><p>with a scaling factor k</p></li>
+</ul>
+<img alt="../../_images/velocity_scaling.png" src="../../_images/velocity_scaling.png" />
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The additional random seeds which are used by the variation are chosen randomly depending on the initial random seed.
+Therefore they´re reproducible</p>
+</div>
+<img alt="../../_images/variation.png" src="../../_images/variation.png" />
+</div>
+<div class="section" id="simulation-start">
+<h2>Simulation Start<a class="headerlink" href="#simulation-start" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Select one or multiple simulation cases (by pressing the CTRL / SHIFT key)</p></li>
+<li><p>Press the button <code class="docutils literal notranslate"><span class="pre">Start</span> <span class="pre">Simulation</span></code></p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The User can interrupt the simulation process by pressing <code class="docutils literal notranslate"><span class="pre">Stop</span> <span class="pre">Simulation</span></code>.
+The simulation will stop after the current simulation is finished.
+Therefore it won´t start the remaining simulations anymore.</p>
+</div>
+<img alt="../../_images/select.png" src="../../_images/select.png" />
+</div>
+<div class="section" id="save-load-experiment">
+<h2>Save / Load Experiment<a class="headerlink" href="#save-load-experiment" title="Permalink to this headline">¶</a></h2>
+<p>Every change in the gui can be saved as in “Experiment” in an text file.
+This file can later be loaded to retrieve the previous used configuration of the “Experiment”.</p>
+<img alt="../../_images/experiment.png" src="../../_images/experiment.png" />
+</div>
+<div class="section" id="result-folder-structure">
+<span id="id1"></span><h2>Result Folder Structure<a class="headerlink" href="#result-folder-structure" title="Permalink to this headline">¶</a></h2>
+<ul>
+<li><p><Result Folder Name> (e.g. <em>result_pcm</em>)</p>
+<blockquote>
+<div><ul>
+<li><p><Case Name> (e.g. <em>1000208</em>)</p>
+<blockquote>
+<div><ul>
+<li><p><System Configuration combination code> (e.g. <em>1-0-2</em>)</p>
+<blockquote>
+<div><ul class="simple">
+<li><p><Variation Name> (e.g. <em>default</em> or <em>Var_00001</em>)</p></li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">PCM Evaluation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#loading-results">Loading Results</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#evaluating-results">Evaluating Results</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../60_scenario_simulation.html">Simulator</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Advanced topics</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/20_simulator_advanced.html">Simulator</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../advanced_topics/30_testing.html">EndToEnd Test Framework</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Developer Information</span></p>
+<ul>
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+<li class="toctree-l1"><a class="reference internal" href="../../developer_information/20_documentation.html">Documentation Concept</a></li>
+</ul>
+<p class="caption"><span class="caption-text">Other Information</span></p>
+<ul>
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+ <div class="section" id="pcm-evaluation">
+<span id="pcm-eval"></span><h1>PCM Evaluation<a class="headerlink" href="#pcm-evaluation" title="Permalink to this headline">¶</a></h1>
+<p>This plugin is used to load results of previous simulations.</p>
+<div class="section" id="loading-results">
+<h2>Loading Results<a class="headerlink" href="#loading-results" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Click <code class="docutils literal notranslate"><span class="pre">Browse</span> <span class="pre">Result</span> <span class="pre">Files</span></code> to choose a result folder to be evaluated</p></li>
+<li><p>Simulation results are displayed in a tree structure</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Result folder has to be structured like the result folder of a previous simulation.
+See <a class="reference internal" href="30_pcm_sim.html#result-folder-structure"><span class="std std-ref">Result Folder Structure</span></a></p>
+</div>
+<img alt="../../_images/overview2.png" src="../../_images/overview2.png" />
+</div>
+<div class="section" id="evaluating-results">
+<h2>Evaluating Results<a class="headerlink" href="#evaluating-results" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Select result files to be shown.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It is possible to select multiple files to compare different trajectories in the visualization area.</p>
+</div>
+<img alt="../../_images/select1.png" src="../../_images/select1.png" />
+</div>
+</div>
+
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+<li class="toctree-l2"><a class="reference internal" href="40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">Result Visualization</a><ul>
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+<span id="id1"></span><h1>Result Visualization<a class="headerlink" href="#result-visualization" title="Permalink to this headline">¶</a></h1>
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+<li class="toctree-l2"><a class="reference internal" href="../40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../50_result_visualization.html">Result Visualization</a><ul class="current">
+<li class="toctree-l3 current"><a class="current reference internal" href="#">Statistics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#loading-results">Loading Results</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../60_scenario_simulation.html">Simulator</a></li>
+</ul>
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+ <div class="section" id="statistics">
+<span id="id1"></span><h1>Statistics<a class="headerlink" href="#statistics" title="Permalink to this headline">¶</a></h1>
+<p>This plugin is used to calculate and show statistics and histograms from a result folder.</p>
+<div class="section" id="loading-results">
+<h2>Loading Results<a class="headerlink" href="#loading-results" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Click <code class="docutils literal notranslate"><span class="pre">Add</span> <span class="pre">result</span> <span class="pre">folder</span></code> to choose a result folder of which the statistics shall be calculated.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It is possible to add multiple result folders.</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Subsequently selected folders are added to the list in the TreeView</p></li>
+<li><p>Histograms will be calculated for each folder including subfolders and will be shown in a new row</p></li>
+</ul>
+</div></blockquote>
+</div>
+<img alt="../../../_images/overview3.png" src="../../../_images/overview3.png" />
+</div>
+<div class="section" id="evaluating-results">
+<h2>Evaluating Results<a class="headerlink" href="#evaluating-results" title="Permalink to this headline">¶</a></h2>
+<ul class="simple">
+<li><p>Select a result folder for showing their statistics and histograms</p></li>
+<li><p>Histograms over a folder are shown in one (scrollable) row of images</p></li>
+<li><p>Selecting the white background of the folder list clears the histogram preview panel</p></li>
+<li><p>Each row of histograms contains the contents of the corresponding folder in the folder list</p></li>
+<li><p>Adding a new folder re-calculates all histograms for each column using a common x-range</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Select an input folder that contains files in the following format</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Relevant files need ending <code class="docutils literal notranslate"><span class="pre">.csv`</span></code></p></li>
+<li><p>Columns can be separated by comma, semicolon or space</p></li>
+<li><p>First two columns need <em>frame</em> and <em>id*</em> in header</p></li>
+</ul>
+</div></blockquote>
+</div>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>For all files in a selected folder and subfolders the headers are read in</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>All of these files consistent with the first read header are used to calculate histograms for all columns</p></li>
+<li><p>Files with non-consistent headers are ignored</p></li>
+</ul>
+</div></blockquote>
+</div>
+<img alt="../../../_images/select3.png" src="../../../_images/select3.png" />
+</div>
+</div>
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+<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/20_install_prerequisites.html">Installing Prerequisites</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/30_install_openpass.html">Installing OpenPASS</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/50_further_guidance.html">Further Guidance</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../installation_guide/60_conan.html">Building with Conan</a></li>
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+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../../10_overview.html">Overview</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../20_tutorials.html">Tutorials</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../30_gui_plugins.html">GUI Plugins</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../10_projects.html">Project</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../20_system_editor.html">System Editor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../30_pcm_sim.html">PCM Simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../40_pcm_eval.html">PCM Evaluation</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../50_result_visualization.html">Result Visualization</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="10_statistics.html">Statistics</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">TimePlot</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#loading-results">Loading Results</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#evaluating-results">Evaluating Results</a></li>
+</ul>
+</li>
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+</li>
+</ul>
+</li>
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- <div class="section" id="observation-log">
-<span id="id1"></span><h1>Observation_Log<a class="headerlink" href="#observation-log" title="Permalink to this headline">¶</a></h1>
-<p>This section describes the parameters and outputs of the <code class="docutils literal notranslate"><span class="pre">Observation_Log</span></code> observer.</p>
-<div class="section" id="paramerization">
-<span id="observationlog-paramerization"></span><h2>Paramerization<a class="headerlink" href="#paramerization" title="Permalink to this headline">¶</a></h2>
-<p>Following parameters are supported:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 18%" />
-<col style="width: 12%" />
-<col style="width: 70%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OutputFilename</p></td>
-<td><p>String</p></td>
-<td><p>Name of the output file (normally <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>)</p></td>
-</tr>
-<tr class="row-odd"><td><p>LoggingCyclicsToCsv</p></td>
-<td><p>Bool</p></td>
-<td><p>If <code class="docutils literal notranslate"><span class="pre">true</span></code>, cyclics are written an additional file (one CSV file per run)</p></td>
-</tr>
-<tr class="row-even"><td><p>LoggingGroup_<NAME></p></td>
-<td><p>StringVector</p></td>
-<td><p>Defines which columns belong to the logging group named NAME</p></td>
-</tr>
-<tr class="row-odd"><td><p>LoggingGroups</p></td>
-<td><p>StringVector</p></td>
-<td><p>Defines active logging groups</p></td>
-</tr>
-</tbody>
-</table>
-<p>The columns, defined by the <code class="docutils literal notranslate"><span class="pre">LoggingGroup_<NAME></span></code> correspond to cyclic data entries written by the core and other components.
-At time or writing, the core publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">AgentNetwork.cpp</span></code>):</p>
-<ul class="simple">
-<li><p>XPosition</p></li>
-<li><p>YPosition</p></li>
-<li><p>VelocityEgo</p></li>
-<li><p>AccelerationEgo</p></li>
-<li><p>YawAngle</p></li>
-<li><p>YawRate</p></li>
-<li><p>SteeringAngle</p></li>
-<li><p>TotalDistanceTraveled</p></li>
-<li><p>PositionRoute</p></li>
-<li><p>TCoordinate</p></li>
-<li><p>Lane</p></li>
-<li><p>Road</p></li>
-<li><p>SecondaryLanes</p></li>
-<li><p>AgentInFront</p></li>
-</ul>
-<p>Please refer to the individual components, for information about their published cyclics.</p>
-<div class="admonition-todo admonition" id="id2">
-<p class="admonition-title">Todo</p>
-<p>The concept Cyclics and the DataStore needs further explanation.
-We also need a way to better communicate, who is publishing what.
-This should directly come out of the source code, to keep the documentation up to date.</p>
-</div>
-<div class="admonition-wildcards-in-logginggroup-definitions admonition">
-<p class="admonition-title"><strong>Wildcards in LoggingGroup definitions</strong></p>
-<div class="line-block">
-<div class="line">It is possible to use the wildcard character <code class="docutils literal notranslate"><span class="pre">*</span></code> in a <code class="docutils literal notranslate"><span class="pre">LoggingGroup_<NAME></span></code> entry.</div>
-<div class="line">The wildcard can be used only once per column reference.</div>
-</div>
-</div>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Library></span>Observation_Log<span class="nt"></Library></span>
- <span class="nt"><Parameters></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"OutputFilename"</span> <span class="na">Value=</span><span class="s">"simulationOutput.xml"</span><span class="nt">/></span>
- <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"LoggingCyclicsToCsv"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
- <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Trace"</span> <span class="na">Value=</span><span class="s">"XPosition,YPosition,YawAngle"</span><span class="nt">/></span>
- <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_RoadPosition"</span> <span class="na">Value=</span><span class="s">"AgentInFront,Lane,PositionRoute,Road,TCoordinate"</span><span class="nt">/></span>
- <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_RoadPositionExtended"</span> <span class="na">Value=</span><span class="s">"SecondaryLanes"</span><span class="nt">/></span>
- <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Sensor"</span> <span class="na">Value=</span><span class="s">"Sensor*_DetectedAgents,Sensor*_VisibleAgents"</span><span class="nt">/></span>
- <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Vehicle"</span> <span class="na">Value=</span><span class="s">"AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate"</span><span class="nt">/></span>
- <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Visualization"</span> <span class="na">Value=</span><span class="s">"AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"</span><span class="nt">/></span>
- <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroups"</span> <span class="na">Value=</span><span class="s">"Trace,Visualization,RoadPosition,Sensor"</span><span class="nt">/></span>
- <span class="nt"></Parameters></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="output-files">
-<h2>Output Files<a class="headerlink" href="#output-files" title="Permalink to this headline">¶</a></h2>
-<div class="section" id="simulationoutput">
-<span id="observationlog-simout"></span><h3>SimulationOutput<a class="headerlink" href="#simulationoutput" title="Permalink to this headline">¶</a></h3>
-<p>Every successful run (single experiment) generates a single file, normally called <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code> (see :ref:’observationlog_paramerization’).
-The output can contain multiple invocations of the same configuration with different random seeds.
-For each invocation a RunResult is stored, which contains information about the agents and their parameters.
-As well as run specific events and parameters.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><SimulationOutput></span>
- <span class="nt"><RunResults></span>
- <span class="nt"><RunResult</span> <span class="na">RunId=</span><span class="s">"0"</span><span class="nt">></span>
- ...
- <span class="nt"></RunResult></span>
- <span class="nt"><RunResult</span> <span class="na">RunId=</span><span class="s">"1"</span><span class="nt">></span>
- ...
- <span class="nt"></RunResult></span>
- <span class="nt"></RunResults></span>
-<span class="nt"></SimulationOutput></span>
-</pre></div>
-</div>
-<p>The RunResult consist out of the following parts:</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#observationlog-runstatistics"><span class="std std-ref">RunStatistics</span></a></p></li>
-<li><p><a class="reference internal" href="#observationlog-events"><span class="std std-ref">Events</span></a></p></li>
-<li><p><a class="reference internal" href="#observationlog-agents"><span class="std std-ref">Agents</span></a></p></li>
-<li><p><a class="reference internal" href="#observationlog-cyclics"><span class="std std-ref">Cyclics</span></a></p></li>
-</ul>
-<div class="section" id="runstatistics">
-<span id="observationlog-runstatistics"></span><h4>RunStatistics<a class="headerlink" href="#runstatistics" title="Permalink to this headline">¶</a></h4>
-<p>This section contains the RandomSeed and general statistics of the invocation.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 26%" />
-<col style="width: 74%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>RandomSeed</p></td>
-<td><p>Random seed used for this invocation</p></td>
-</tr>
-<tr class="row-odd"><td><p>VisibilityDistance</p></td>
-<td><p>Visibility distance of the world</p></td>
-</tr>
-<tr class="row-even"><td><p>StopReason</p></td>
-<td><p>Displays the reason why the simulation stopped.
-Currently only due to time out.</p></td>
-</tr>
-<tr class="row-odd"><td><p>StopTime</p></td>
-<td><p>Currently not used and set to -1</p></td>
-</tr>
-<tr class="row-even"><td><p>EgoAccident</p></td>
-<td><p>Flag which shows whether the ego agent was involved in an accident</p></td>
-</tr>
-<tr class="row-odd"><td><p>TotalDistanceTraveled</p></td>
-<td><p>Total traveled distance of all agents</p></td>
-</tr>
-<tr class="row-even"><td><p>EgoDistanceTraveled</p></td>
-<td><p>Total traveled distance of ego vehicle only</p></td>
-</tr>
-</tbody>
-</table>
-</div>
-<div class="section" id="events">
-<span id="observationlog-events"></span><h4>Events<a class="headerlink" href="#events" title="Permalink to this headline">¶</a></h4>
-<p>This section contains all events that occurred during the invocation.
-Event can either be triggered by an EventDetector, Manipulator or by certain vehicle components.
-They are used to track special behavior in the simulation.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 21%" />
-<col style="width: 79%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Time</p></td>
-<td><p>Time in ms when the event occurred.</p></td>
-</tr>
-<tr class="row-odd"><td><p>Source</p></td>
-<td><p>Name of the component which created the event.
-<code class="docutils literal notranslate"><span class="pre">OpenSCENARIO</span></code>, if triggered by an OpenSCENARIO condition.</p></td>
-</tr>
-<tr class="row-even"><td><p>Name</p></td>
-<td><p>In case of an OpenSCENARIO event, a path expression Story/Act/Sequence/Maneuver/Event
-using the names of the corresponding tags as described in the OpenSCENARIO file.
-Otherwise determined by the triggering component.</p></td>
-</tr>
-<tr class="row-odd"><td><p>TriggeringEntities</p></td>
-<td><p>List of entity IDs triggering this event.</p></td>
-</tr>
-<tr class="row-even"><td><p>AffectedEntities</p></td>
-<td><p>List of entity IDs affected by this event.</p></td>
-</tr>
-<tr class="row-odd"><td><p>Parameters</p></td>
-<td><p>List of generic key/value string pairs.</p></td>
-</tr>
-</tbody>
-</table>
-</div>
-<div class="section" id="agents">
-<span id="observationlog-agents"></span><h4>Agents<a class="headerlink" href="#agents" title="Permalink to this headline">¶</a></h4>
-<p>This section contains some information on how each agent is configured.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 26%" />
-<col style="width: 74%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Id</p></td>
-<td><p>Identification number</p></td>
-</tr>
-<tr class="row-odd"><td><p>AgentTypeGroupName</p></td>
-<td><p>The agent category. This can either be Ego, Scenario or Common</p></td>
-</tr>
-<tr class="row-even"><td><p>AgentTypeName</p></td>
-<td><p>Name of the agent profile</p></td>
-</tr>
-<tr class="row-odd"><td><p>VehicleModelType</p></td>
-<td><p>Name of the vehicle model</p></td>
-</tr>
-<tr class="row-even"><td><p>DriverProfileName</p></td>
-<td><p>Name of the driver profile</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Agent</span> <span class="na">Id=</span><span class="s">"0"</span>
- <span class="na">AgentTypeGroupName=</span><span class="s">"Ego"</span>
- <span class="na">AgentTypeName=</span><span class="s">"MiddleClassCarAgent"</span>
- <span class="na">VehicleModelType=</span><span class="s">"car_bmw_7"</span>
- <span class="na">DriverProfileName=</span><span class="s">"Regular"</span><span class="nt">></span>
-</pre></div>
-</div>
-<p>The VehicleAttributes tag lists basic information of the vehicle parameters.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 23%" />
-<col style="width: 77%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Width</p></td>
-<td><p>Width of the vehicles bounding box</p></td>
-</tr>
-<tr class="row-odd"><td><p>Length</p></td>
-<td><p>Length of the vehicles bounding box</p></td>
-</tr>
-<tr class="row-even"><td><p>Height</p></td>
-<td><p>Height of the vehicles bounding box</p></td>
-</tr>
-<tr class="row-odd"><td><p>LongitudinalPivotOffset</p></td>
-<td><p>Distance between center of the bounding box and reference point of the agent.
-Positive distances are closer to the front of the vehicle.
-Negative distances are closer to the rear of the vehicle.</p></td>
-</tr>
-</tbody>
-</table>
-<p>The Sensors tag lists all sensors of the agent and their parameters.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 25%" />
-<col style="width: 75%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Name</p></td>
-<td><p>Name of the component</p></td>
-</tr>
-<tr class="row-odd"><td><p>Model</p></td>
-<td><p>Type of the sensor</p></td>
-</tr>
-<tr class="row-even"><td><p>MountingPosLongitudinal</p></td>
-<td><p>Relative longitudinal position of the sensor in relation to the agent</p></td>
-</tr>
-<tr class="row-odd"><td><p>MountingPosLateral</p></td>
-<td><p>Relative lateral position of the sensor in relation to the agent</p></td>
-</tr>
-<tr class="row-even"><td><p>MountingPosHeight</p></td>
-<td><p>Relative height of the sensor in relation to the agent</p></td>
-</tr>
-<tr class="row-odd"><td><p>OrientationPitch</p></td>
-<td><p>Pitch rotation of the sensor in relation to the agent</p></td>
-</tr>
-<tr class="row-even"><td><p>OrientationYaw</p></td>
-<td><p>Yaw rotation of the sensor in relation to the agent</p></td>
-</tr>
-<tr class="row-odd"><td><p>OpeningAngleH</p></td>
-<td><p>Horizontal opening angle of the sensor</p></td>
-</tr>
-<tr class="row-even"><td><p>OpeningAngleV</p></td>
-<td><p>Vertical opening angle of the sensor</p></td>
-</tr>
-<tr class="row-odd"><td><p>DetectionRange</p></td>
-<td><p>Range how far the sensor reaches in m</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Calculation of visual obstruction is currently supported only by the Geometric2D sensor.
-See <a class="reference internal" href="../input/systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a> for configuration.</p>
-</div>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Sensor</span> <span class="na">Name=</span><span class="s">"Geometric2DFront"</span>
- <span class="na">Model=</span><span class="s">"Geometric2D"</span>
- <span class="na">MountingPosLongitudinal=</span><span class="s">"0"</span>
- <span class="na">MountingPosLateral=</span><span class="s">"0"</span>
- <span class="na">MountingPosHeight=</span><span class="s">"0.5"</span>
- <span class="na">OrientationPitch=</span><span class="s">"0"</span>
- <span class="na">OrientationYaw=</span><span class="s">"0"</span>
- <span class="na">OpeningAngleH=</span><span class="s">"20"</span>
- <span class="na">OpeningAngleV=</span><span class="s">"-999"</span>
- <span class="na">DetectionRange=</span><span class="s">"300"</span> <span class="nt">/></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="cyclics">
-<span id="observationlog-cyclics"></span><h4>Cyclics<a class="headerlink" href="#cyclics" title="Permalink to this headline">¶</a></h4>
-<p>If the parameter <code class="docutils literal notranslate"><span class="pre">LoggingCyclicsToCsv</span></code> is set to <code class="docutils literal notranslate"><span class="pre">false</span></code>, this section contains all logged parameters of the agents per time step.
-The tag <code class="docutils literal notranslate"><span class="pre">header</span></code> defines the layout of all samples.
-Each entry of the header consists of the agent id and the name of the logged value, in the form <code class="docutils literal notranslate"><span class="pre">ID:SAMPLE_NAME</span></code>.
-A sample contains all information for one specific time step.
-If an agent does not exist at the current time step, the value is ‘ ‘.</p>
-<p><strong>Example</strong></p>
-<p>In this example exist two agents with the ids 0 and 1.
-Two time steps were being tracked, one at 0 seconds and one at 100 ms.
-Agent 0 has a constant velocity of 30 m/s and starts at the position X: 100 and Y: 50.
-Agent 1 has a initial velocity of 40 m/s and starts at the position X: 200 and Y: 50.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Cyclics></span>
- <span class="nt"><Header></span>00:VelocityEgo, 00:XPosition, 00:YPosition, 00:YawAngle, 01:VelocityEgo, 01:XPosition, 01:YPosition, 01:YawAngle<span class="nt"></Header></span>
- <span class="nt"><Samples></span>
- <span class="nt"><Sample</span> <span class="na">Time=</span><span class="s">"0"</span><span class="nt">></span>30, 100, 50, 0, 40, 200, 50, 0<span class="nt"></Sample></span>
- <span class="nt"><Sample</span> <span class="na">Time=</span><span class="s">"100"</span><span class="nt">></span>30, 103, 50, 0, 40, 204, 50, 0<span class="nt"></Sample></span>
- <span class="nt"></Samples></span>
-<span class="nt"></Cyclics></span>
-</pre></div>
-</div>
-<p>If the parameter <code class="docutils literal notranslate"><span class="pre">LoggingCyclicsToCsv</span></code> is set to <code class="docutils literal notranslate"><span class="pre">true</span></code>, this section only contains a reference to the corresponding CSV file, e.g.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Cyclics></span>
- <span class="nt"><CyclicsFile></span>Cyclics_Run_000.csv<span class="nt"></CyclicsFile></span>
-<span class="nt"></Cyclics></span>
-</pre></div>
-</div>
-<p>For each invocation, the file number of the filename is incremented, starting with <code class="docutils literal notranslate"><span class="pre">Cyclics_Run_000.csv</span></code>.</p>
-</div>
-</div>
-<div class="section" id="cyclics-run">
-<h3>Cyclics_Run_###<a class="headerlink" href="#cyclics-run" title="Permalink to this headline">¶</a></h3>
-<p>This file contains the samples as described in :ref:’observationlog_cyclics’, but with the time step as leading column.</p>
-<p><strong>Example</strong></p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 8%" />
-<col style="width: 13%" />
-<col style="width: 11%" />
-<col style="width: 11%" />
-<col style="width: 10%" />
-<col style="width: 13%" />
-<col style="width: 11%" />
-<col style="width: 11%" />
-<col style="width: 10%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Timestep</p></th>
-<th class="head"><p>00:VelocityEgo</p></th>
-<th class="head"><p>00:XPosition</p></th>
-<th class="head"><p>00:YPosition</p></th>
-<th class="head"><p>00:YawAngle</p></th>
-<th class="head"><p>01:VelocityEgo</p></th>
-<th class="head"><p>01:XPosition</p></th>
-<th class="head"><p>01:YPosition</p></th>
-<th class="head"><p>01:YawAngle</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>0</p></td>
-<td><p>30</p></td>
-<td><p>100</p></td>
-<td><p>50</p></td>
-<td><p>0</p></td>
-<td><p>40</p></td>
-<td><p>200</p></td>
-<td><p>50</p></td>
-<td><p>0</p></td>
-</tr>
-<tr class="row-odd"><td><p>100</p></td>
-<td><p>30</p></td>
-<td><p>103</p></td>
-<td><p>50</p></td>
-<td><p>0</p></td>
-<td><p>40</p></td>
-<td><p>204</p></td>
-<td><p>50</p></td>
-<td><p>0</p></td>
-</tr>
-</tbody>
-</table>
-</div>
-</div>
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+ <div class="section" id="observation-log">
+<span id="id1"></span><h1>Observation_Log<a class="headerlink" href="#observation-log" title="Permalink to this headline">¶</a></h1>
+<p>This section describes the parameters and outputs of the <code class="docutils literal notranslate"><span class="pre">Observation_Log</span></code> observer.</p>
+<div class="section" id="paramerization">
+<span id="observationlog-paramerization"></span><h2>Paramerization<a class="headerlink" href="#paramerization" title="Permalink to this headline">¶</a></h2>
+<p>Following parameters are supported:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 18%" />
+<col style="width: 12%" />
+<col style="width: 70%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>OutputFilename</p></td>
+<td><p>String</p></td>
+<td><p>Name of the output file (normally <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p>LoggingCyclicsToCsv</p></td>
+<td><p>Bool</p></td>
+<td><p>If <code class="docutils literal notranslate"><span class="pre">true</span></code>, cyclics are written an additional file (one CSV file per run)</p></td>
+</tr>
+<tr class="row-even"><td><p>LoggingGroup_<NAME></p></td>
+<td><p>StringVector</p></td>
+<td><p>Defines which columns belong to the logging group named NAME</p></td>
+</tr>
+<tr class="row-odd"><td><p>LoggingGroups</p></td>
+<td><p>StringVector</p></td>
+<td><p>Defines active logging groups</p></td>
+</tr>
+</tbody>
+</table>
+<p>The columns, defined by the <code class="docutils literal notranslate"><span class="pre">LoggingGroup_<NAME></span></code> correspond to cyclic data entries written by the core and other components.
+At time or writing, the core publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">AgentNetwork.cpp</span></code>):</p>
+<ul class="simple">
+<li><p>XPosition</p></li>
+<li><p>YPosition</p></li>
+<li><p>VelocityEgo</p></li>
+<li><p>AccelerationEgo</p></li>
+<li><p>YawAngle</p></li>
+<li><p>YawRate</p></li>
+<li><p>SteeringAngle</p></li>
+<li><p>TotalDistanceTraveled</p></li>
+<li><p>PositionRoute</p></li>
+<li><p>TCoordinate</p></li>
+<li><p>Lane</p></li>
+<li><p>Road</p></li>
+<li><p>SecondaryLanes</p></li>
+<li><p>AgentInFront</p></li>
+</ul>
+<p>Please refer to the individual components, for information about their published cyclics.</p>
+<div class="admonition-todo admonition" id="id2">
+<p class="admonition-title">Todo</p>
+<p>The concept Cyclics and the DataBuffer needs further explanation.
+We also need a way to better communicate, who is publishing what.
+This should directly come out of the source code, to keep the documentation up to date.</p>
+</div>
+<div class="admonition-wildcards-in-logginggroup-definitions admonition">
+<p class="admonition-title"><strong>Wildcards in LoggingGroup definitions</strong></p>
+<div class="line-block">
+<div class="line">It is possible to use the wildcard character <code class="docutils literal notranslate"><span class="pre">*</span></code> in a <code class="docutils literal notranslate"><span class="pre">LoggingGroup_<NAME></span></code> entry.</div>
+<div class="line">The wildcard can be used only once per column reference.</div>
+</div>
+</div>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Library></span>Observation_Log<span class="nt"></Library></span>
+ <span class="nt"><Parameters></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"OutputFilename"</span> <span class="na">Value=</span><span class="s">"simulationOutput.xml"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"LoggingCyclicsToCsv"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Trace"</span> <span class="na">Value=</span><span class="s">"XPosition,YPosition,YawAngle"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_RoadPosition"</span> <span class="na">Value=</span><span class="s">"AgentInFront,Lane,PositionRoute,Road,TCoordinate"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_RoadPositionExtended"</span> <span class="na">Value=</span><span class="s">"SecondaryLanes"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Sensor"</span> <span class="na">Value=</span><span class="s">"Sensor*_DetectedAgents,Sensor*_VisibleAgents"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Vehicle"</span> <span class="na">Value=</span><span class="s">"AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Visualization"</span> <span class="na">Value=</span><span class="s">"AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"</span><span class="nt">/></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroups"</span> <span class="na">Value=</span><span class="s">"Trace,Visualization,RoadPosition,Sensor"</span><span class="nt">/></span>
+ <span class="nt"></Parameters></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="output-files">
+<h2>Output Files<a class="headerlink" href="#output-files" title="Permalink to this headline">¶</a></h2>
+<div class="section" id="simulationoutput">
+<span id="observationlog-simout"></span><h3>SimulationOutput<a class="headerlink" href="#simulationoutput" title="Permalink to this headline">¶</a></h3>
+<p>Every successful run (single experiment) generates a single file, normally called <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code> (see :ref:’observationlog_paramerization’).
+The output can contain multiple invocations of the same configuration with different random seeds.
+For each invocation a RunResult is stored, which contains information about the agents and their parameters.
+As well as run specific events and parameters.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><SimulationOutput></span>
+ <span class="nt"><RunResults></span>
+ <span class="nt"><RunResult</span> <span class="na">RunId=</span><span class="s">"0"</span><span class="nt">></span>
+ ...
+ <span class="nt"></RunResult></span>
+ <span class="nt"><RunResult</span> <span class="na">RunId=</span><span class="s">"1"</span><span class="nt">></span>
+ ...
+ <span class="nt"></RunResult></span>
+ <span class="nt"></RunResults></span>
+<span class="nt"></SimulationOutput></span>
+</pre></div>
+</div>
+<p>The RunResult consist out of the following parts:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#observationlog-runstatistics"><span class="std std-ref">RunStatistics</span></a></p></li>
+<li><p><a class="reference internal" href="#observationlog-events"><span class="std std-ref">Events</span></a></p></li>
+<li><p><a class="reference internal" href="#observationlog-agents"><span class="std std-ref">Agents</span></a></p></li>
+<li><p><a class="reference internal" href="#observationlog-cyclics"><span class="std std-ref">Cyclics</span></a></p></li>
+</ul>
+<div class="section" id="runstatistics">
+<span id="observationlog-runstatistics"></span><h4>RunStatistics<a class="headerlink" href="#runstatistics" title="Permalink to this headline">¶</a></h4>
+<p>This section contains the RandomSeed and general statistics of the invocation.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 26%" />
+<col style="width: 74%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Tag</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>RandomSeed</p></td>
+<td><p>Random seed used for this invocation</p></td>
+</tr>
+<tr class="row-odd"><td><p>VisibilityDistance</p></td>
+<td><p>Visibility distance of the world</p></td>
+</tr>
+<tr class="row-even"><td><p>StopReason</p></td>
+<td><p>Displays the reason why the simulation stopped.
+Currently only due to time out.</p></td>
+</tr>
+<tr class="row-odd"><td><p>StopTime</p></td>
+<td><p>Currently not used and set to -1</p></td>
+</tr>
+<tr class="row-even"><td><p>EgoAccident</p></td>
+<td><p>Flag which shows whether the ego agent was involved in an accident</p></td>
+</tr>
+<tr class="row-odd"><td><p>TotalDistanceTraveled</p></td>
+<td><p>Total traveled distance of all agents</p></td>
+</tr>
+<tr class="row-even"><td><p>EgoDistanceTraveled</p></td>
+<td><p>Total traveled distance of ego vehicle only</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="events">
+<span id="observationlog-events"></span><h4>Events<a class="headerlink" href="#events" title="Permalink to this headline">¶</a></h4>
+<p>This section contains all events that occurred during the invocation.
+Event can either be triggered by an EventDetector, Manipulator or by certain vehicle components.
+They are used to track special behavior in the simulation.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 21%" />
+<col style="width: 79%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Time</p></td>
+<td><p>Time in ms when the event occurred.</p></td>
+</tr>
+<tr class="row-odd"><td><p>Source</p></td>
+<td><p>Name of the component which created the event.
+<code class="docutils literal notranslate"><span class="pre">OpenSCENARIO</span></code>, if triggered by an OpenSCENARIO condition.</p></td>
+</tr>
+<tr class="row-even"><td><p>Name</p></td>
+<td><p>In case of an OpenSCENARIO event, a path expression Story/Act/Sequence/Maneuver/Event
+using the names of the corresponding tags as described in the OpenSCENARIO file.
+Otherwise determined by the triggering component.</p></td>
+</tr>
+<tr class="row-odd"><td><p>TriggeringEntities</p></td>
+<td><p>List of entity IDs triggering this event.</p></td>
+</tr>
+<tr class="row-even"><td><p>AffectedEntities</p></td>
+<td><p>List of entity IDs affected by this event.</p></td>
+</tr>
+<tr class="row-odd"><td><p>Parameters</p></td>
+<td><p>List of generic key/value string pairs.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="section" id="agents">
+<span id="observationlog-agents"></span><h4>Agents<a class="headerlink" href="#agents" title="Permalink to this headline">¶</a></h4>
+<p>This section contains some information on how each agent is configured.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 26%" />
+<col style="width: 74%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Id</p></td>
+<td><p>Identification number</p></td>
+</tr>
+<tr class="row-odd"><td><p>AgentTypeGroupName</p></td>
+<td><p>The agent category. This can either be Ego, Scenario or Common</p></td>
+</tr>
+<tr class="row-even"><td><p>AgentTypeName</p></td>
+<td><p>Name of the agent profile</p></td>
+</tr>
+<tr class="row-odd"><td><p>VehicleModelType</p></td>
+<td><p>Name of the vehicle model</p></td>
+</tr>
+<tr class="row-even"><td><p>DriverProfileName</p></td>
+<td><p>Name of the driver profile</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Agent</span> <span class="na">Id=</span><span class="s">"0"</span>
+ <span class="na">AgentTypeGroupName=</span><span class="s">"Ego"</span>
+ <span class="na">AgentTypeName=</span><span class="s">"MiddleClassCarAgent"</span>
+ <span class="na">VehicleModelType=</span><span class="s">"car_bmw_7"</span>
+ <span class="na">DriverProfileName=</span><span class="s">"Regular"</span><span class="nt">></span>
+</pre></div>
+</div>
+<p>The VehicleAttributes tag lists basic information of the vehicle parameters.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 23%" />
+<col style="width: 77%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Width</p></td>
+<td><p>Width of the vehicles bounding box</p></td>
+</tr>
+<tr class="row-odd"><td><p>Length</p></td>
+<td><p>Length of the vehicles bounding box</p></td>
+</tr>
+<tr class="row-even"><td><p>Height</p></td>
+<td><p>Height of the vehicles bounding box</p></td>
+</tr>
+<tr class="row-odd"><td><p>LongitudinalPivotOffset</p></td>
+<td><p>Distance between center of the bounding box and reference point of the agent.
+Positive distances are closer to the front of the vehicle.
+Negative distances are closer to the rear of the vehicle.</p></td>
+</tr>
+</tbody>
+</table>
+<p>The Sensors tag lists all sensors of the agent and their parameters.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 25%" />
+<col style="width: 75%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Name</p></td>
+<td><p>Name of the component</p></td>
+</tr>
+<tr class="row-odd"><td><p>Model</p></td>
+<td><p>Type of the sensor</p></td>
+</tr>
+<tr class="row-even"><td><p>MountingPosLongitudinal</p></td>
+<td><p>Relative longitudinal position of the sensor in relation to the agent</p></td>
+</tr>
+<tr class="row-odd"><td><p>MountingPosLateral</p></td>
+<td><p>Relative lateral position of the sensor in relation to the agent</p></td>
+</tr>
+<tr class="row-even"><td><p>MountingPosHeight</p></td>
+<td><p>Relative height of the sensor in relation to the agent</p></td>
+</tr>
+<tr class="row-odd"><td><p>OrientationPitch</p></td>
+<td><p>Pitch rotation of the sensor in relation to the agent</p></td>
+</tr>
+<tr class="row-even"><td><p>OrientationYaw</p></td>
+<td><p>Yaw rotation of the sensor in relation to the agent</p></td>
+</tr>
+<tr class="row-odd"><td><p>OpeningAngleH</p></td>
+<td><p>Horizontal opening angle of the sensor</p></td>
+</tr>
+<tr class="row-even"><td><p>OpeningAngleV</p></td>
+<td><p>Vertical opening angle of the sensor</p></td>
+</tr>
+<tr class="row-odd"><td><p>DetectionRange</p></td>
+<td><p>Range how far the sensor reaches in m</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Calculation of visual obstruction is currently supported only by the Geometric2D sensor.
+See <a class="reference internal" href="../configs/systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a> for configuration.</p>
+</div>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Sensor</span> <span class="na">Name=</span><span class="s">"Geometric2DFront"</span>
+ <span class="na">Model=</span><span class="s">"Geometric2D"</span>
+ <span class="na">MountingPosLongitudinal=</span><span class="s">"0"</span>
+ <span class="na">MountingPosLateral=</span><span class="s">"0"</span>
+ <span class="na">MountingPosHeight=</span><span class="s">"0.5"</span>
+ <span class="na">OrientationPitch=</span><span class="s">"0"</span>
+ <span class="na">OrientationYaw=</span><span class="s">"0"</span>
+ <span class="na">OpeningAngleH=</span><span class="s">"20"</span>
+ <span class="na">OpeningAngleV=</span><span class="s">"-999"</span>
+ <span class="na">DetectionRange=</span><span class="s">"300"</span> <span class="nt">/></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="cyclics">
+<span id="observationlog-cyclics"></span><h4>Cyclics<a class="headerlink" href="#cyclics" title="Permalink to this headline">¶</a></h4>
+<p>If the parameter <code class="docutils literal notranslate"><span class="pre">LoggingCyclicsToCsv</span></code> is set to <code class="docutils literal notranslate"><span class="pre">false</span></code>, this section contains all logged parameters of the agents per time step.
+The tag <code class="docutils literal notranslate"><span class="pre">header</span></code> defines the layout of all samples.
+Each entry of the header consists of the agent id and the name of the logged value, in the form <code class="docutils literal notranslate"><span class="pre">ID:SAMPLE_NAME</span></code>.
+A sample contains all information for one specific time step.
+If an agent does not exist at the current time step, the value is ‘ ‘.</p>
+<p><strong>Example</strong></p>
+<p>In this example exist two agents with the ids 0 and 1.
+Two time steps were being tracked, one at 0 seconds and one at 100 ms.
+Agent 0 has a constant velocity of 30 m/s and starts at the position X: 100 and Y: 50.
+Agent 1 has a initial velocity of 40 m/s and starts at the position X: 200 and Y: 50.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Cyclics></span>
+ <span class="nt"><Header></span>00:VelocityEgo, 00:XPosition, 00:YPosition, 00:YawAngle, 01:VelocityEgo, 01:XPosition, 01:YPosition, 01:YawAngle<span class="nt"></Header></span>
+ <span class="nt"><Samples></span>
+ <span class="nt"><Sample</span> <span class="na">Time=</span><span class="s">"0"</span><span class="nt">></span>30, 100, 50, 0, 40, 200, 50, 0<span class="nt"></Sample></span>
+ <span class="nt"><Sample</span> <span class="na">Time=</span><span class="s">"100"</span><span class="nt">></span>30, 103, 50, 0, 40, 204, 50, 0<span class="nt"></Sample></span>
+ <span class="nt"></Samples></span>
+<span class="nt"></Cyclics></span>
+</pre></div>
+</div>
+<p>If the parameter <code class="docutils literal notranslate"><span class="pre">LoggingCyclicsToCsv</span></code> is set to <code class="docutils literal notranslate"><span class="pre">true</span></code>, this section only contains a reference to the corresponding CSV file, e.g.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Cyclics></span>
+ <span class="nt"><CyclicsFile></span>Cyclics_Run_000.csv<span class="nt"></CyclicsFile></span>
+<span class="nt"></Cyclics></span>
+</pre></div>
+</div>
+<p>For each invocation, the file number of the filename is incremented, starting with <code class="docutils literal notranslate"><span class="pre">Cyclics_Run_000.csv</span></code>.</p>
+</div>
+</div>
+<div class="section" id="cyclics-run">
+<h3>Cyclics_Run_###<a class="headerlink" href="#cyclics-run" title="Permalink to this headline">¶</a></h3>
+<p>This file contains the samples as described in :ref:’observationlog_cyclics’, but with the time step as leading column.</p>
+<p><strong>Example</strong></p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 8%" />
+<col style="width: 13%" />
+<col style="width: 11%" />
+<col style="width: 11%" />
+<col style="width: 10%" />
+<col style="width: 13%" />
+<col style="width: 11%" />
+<col style="width: 11%" />
+<col style="width: 10%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Timestep</p></th>
+<th class="head"><p>00:VelocityEgo</p></th>
+<th class="head"><p>00:XPosition</p></th>
+<th class="head"><p>00:YPosition</p></th>
+<th class="head"><p>00:YawAngle</p></th>
+<th class="head"><p>01:VelocityEgo</p></th>
+<th class="head"><p>01:XPosition</p></th>
+<th class="head"><p>01:YPosition</p></th>
+<th class="head"><p>01:YawAngle</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>0</p></td>
+<td><p>30</p></td>
+<td><p>100</p></td>
+<td><p>50</p></td>
+<td><p>0</p></td>
+<td><p>40</p></td>
+<td><p>200</p></td>
+<td><p>50</p></td>
+<td><p>0</p></td>
+</tr>
+<tr class="row-odd"><td><p>100</p></td>
+<td><p>30</p></td>
+<td><p>103</p></td>
+<td><p>50</p></td>
+<td><p>0</p></td>
+<td><p>40</p></td>
+<td><p>204</p></td>
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- <div class="section" id="observation-entityrepository">
-<span id="id1"></span><h1>Observation_EntityRepository<a class="headerlink" href="#observation-entityrepository" title="Permalink to this headline">¶</a></h1>
-<p>This observer logs all entities generated for an experiment, split by run and/or persistence.
-In the following, the parametrization and generated outputs of the <code class="docutils literal notranslate"><span class="pre">Observation_EntityRepository</span></code> observer are described.</p>
-<div class="section" id="parametrization">
-<span id="observation-entityrepository-parametrization"></span><h2>Parametrization<a class="headerlink" href="#parametrization" title="Permalink to this headline">¶</a></h2>
-<p>Following parameters are supported:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 16%" />
-<col style="width: 9%" />
-<col style="width: 76%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>FilenamePrefix</p></td>
-<td><p>String</p></td>
-<td><p>(Optional) Prefix for the output files.
-Defaults to <code class="docutils literal notranslate"><span class="pre">Repository</span></code> resulting e.g. in <code class="docutils literal notranslate"><span class="pre">Repository_Run_00.csv</span></code>.</p></td>
-</tr>
-<tr class="row-odd"><td><p>WritePersistentEntities</p></td>
-<td><p>String</p></td>
-<td><p>Defines how persistent, ie cross-run entities such as stationary objects, are logged</p>
-<p>Options:</p>
-<ul class="simple">
-<li><p><strong>Consolidated</strong> (default): Logged together with non persistent entities and hence duplicated for each run.</p></li>
-<li><p><strong>Separate</strong>: Written once into <code class="docutils literal notranslate"><span class="pre">{FilenamePrefix}_Persistent.csv</span></code></p></li>
-<li><p><strong>Skip</strong>: No output.</p></li>
-</ul>
-</td>
-</tr>
-</tbody>
-</table>
-<div class="admonition warning">
-<p class="admonition-title">Warning</p>
-<p>The visualization is searching for files with the default <code class="docutils literal notranslate"><span class="pre">Repository</span></code> prefix, so don’t change it unless you have a reason to.</p>
-</div>
-<p><strong>Example</strong></p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Library></span>Observation_EntityRepository<span class="nt"></Library></span>
- <span class="nt"><Parameters></span>
- <span class="c"><!-- If "FilenamePrefix" is skipped, defaults to Value="Repository" --></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"FilenamePrefix"</span> <span class="na">Value=</span><span class="s">"Repository"</span><span class="nt">/></span>
- <span class="c"><!-- If "WritePersistentEntities" is skipped, defaults to Value="Consolidated"</span>
-<span class="c"> Options: </span>
-<span class="c"> - Consolidated: Concatenate with {FilenamePrefix}_Run_###.csv for each run</span>
-<span class="c"> - Separate: Write to {FilenamePrefix}_Persistent.csv</span>
-<span class="c"> - Skip: No output for persistent entities</span>
-<span class="c"> --></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"WritePersistentEntities"</span> <span class="na">Value=</span><span class="s">"Consolidated"</span><span class="nt">/></span>
- <span class="nt"></Parameters></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="output-files">
-<h2>Output Files<a class="headerlink" href="#output-files" title="Permalink to this headline">¶</a></h2>
-<div class="section" id="repository-run-csv">
-<span id="observation-entityrepository-run"></span><h3>Repository_Run_###.csv<a class="headerlink" href="#repository-run-csv" title="Permalink to this headline">¶</a></h3>
-<p>This file contains information about entities, which exist only within the given run.
-In other words, <code class="docutils literal notranslate"><span class="pre">Repository_Run_000.csv</span></code> will contain all moving objects, spawned within the first run (zero-based index).</p>
-<p><strong>Example</strong></p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 11%" />
-<col style="width: 11%" />
-<col style="width: 11%" />
-<col style="width: 11%" />
-<col style="width: 11%" />
-<col style="width: 11%" />
-<col style="width: 11%" />
-<col style="width: 11%" />
-<col style="width: 11%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>id</p></th>
-<th class="head"><p>group</p></th>
-<th class="head"><p>source</p></th>
-<th class="head"><p>version</p></th>
-<th class="head"><p>name</p></th>
-<th class="head"><p>secondary id</p></th>
-<th class="head"><p>type</p></th>
-<th class="head"><p>subtype</p></th>
-<th class="head"></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>0</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td><p>Ego</p></td>
-<td></td>
-<td><p>Ego</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>1</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td><p>TF</p></td>
-<td></td>
-<td><p>Scenaro</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>2</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td><p>S1</p></td>
-<td></td>
-<td><p>Scenaro</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>3</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td><p>S2</p></td>
-<td></td>
-<td><p>Scenaro</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>4</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td><p>S3</p></td>
-<td></td>
-<td><p>Scenaro</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>5</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td></td>
-<td></td>
-<td><p>Common</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>6</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td></td>
-<td></td>
-<td><p>Common</p></td>
-<td></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>7</p></td>
-<td><p>MovingObject</p></td>
-<td><p>OpenSCENARIO</p></td>
-<td></td>
-<td></td>
-<td></td>
-<td><p>Common</p></td>
-<td></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>By convention, moving objects start with id 0.</p>
-</div>
-<p>If <code class="docutils literal notranslate"><span class="pre">WritePersistentEntities</span></code> is set to <code class="docutils literal notranslate"><span class="pre">Consolidated</span></code>, each file will also contain information about stationary objects, described below.</p>
-</div>
-<div class="section" id="repository-persistent-csv">
-<span id="observation-entityrepository-persistent"></span><h3>Repository_Persistent.csv<a class="headerlink" href="#repository-persistent-csv" title="Permalink to this headline">¶</a></h3>
-<p>This file contains information about entities, which exist in every single run.
-This includes mainly both objects (starting at 100000) and road elements (starting at 200000), defined by the <a class="reference internal" href="../input/scenery.html#scenery"><span class="std std-ref">Scenery</span></a>.</p>
-<p><strong>Example</strong></p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 7%" />
-<col style="width: 20%" />
-<col style="width: 11%" />
-<col style="width: 9%" />
-<col style="width: 15%" />
-<col style="width: 16%" />
-<col style="width: 14%" />
-<col style="width: 9%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>id</p></th>
-<th class="head"><p>group</p></th>
-<th class="head"><p>source</p></th>
-<th class="head"><p>version</p></th>
-<th class="head"><p>name</p></th>
-<th class="head"><p>secondary id</p></th>
-<th class="head"><p>type</p></th>
-<th class="head"><p>subtype</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>100000</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>Barrier</p></td>
-<td><p>barrier_01</p></td>
-<td><p>obstacle</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>100001</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_01</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>100002</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_01</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>100003</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_01</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>100004</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_01</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>100005</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_01</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>100006</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_02</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>100007</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_02</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>100008</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_02</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>100009</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_02</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>100010</p></td>
-<td><p>StationaryObject</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>GuardRail</p></td>
-<td><p>guardrail_02</p></td>
-<td><p>railing</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>200000</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>LaneRoadMark</p></td>
-<td></td>
-<td><p>Solid</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>200001</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>LaneRoadMark</p></td>
-<td></td>
-<td><p>Solid</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>200002</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>Lane</p></td>
-<td><p>-3</p></td>
-<td><p>Driving</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>200003</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>LaneRoadMark</p></td>
-<td></td>
-<td><p>Broken</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>200004</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>Lane</p></td>
-<td><p>-2</p></td>
-<td><p>Driving</p></td>
-<td></td>
-</tr>
-<tr class="row-even"><td><p>200005</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>LaneRoadMark</p></td>
-<td></td>
-<td><p>Broken</p></td>
-<td></td>
-</tr>
-<tr class="row-odd"><td><p>200006</p></td>
-<td><p>Others</p></td>
-<td><p>OpenDRIVE</p></td>
-<td><p>1.6</p></td>
-<td><p>Lane</p></td>
-<td><p>-1</p></td>
-<td><p>Driving</p></td>
-<td></td>
-</tr>
-</tbody>
-</table>
-<p>Information coming from the source <code class="docutils literal notranslate"><span class="pre">openDRIVE</span></code> are mapped in the following manner:</p>
-<table class="docutils align-default">
-<colgroup>
-<col style="width: 43%" />
-<col style="width: 57%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Column</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>name</p></td>
-<td><p>name</p></td>
-</tr>
-<tr class="row-odd"><td><p>id</p></td>
-<td><p>secondary id</p></td>
-</tr>
-<tr class="row-even"><td><p>type</p></td>
-<td><p>type</p></td>
-</tr>
-<tr class="row-odd"><td><p>subtype</p></td>
-<td><p>subtype</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Repeated OpenDRIVE objects are internally split into individual objects.
-E.g. a single guard rail object in openDRIVE, is split into individual openPASS objects having consecutive ids.
-In the example above, the openDRIVE object with (secondary) id <code class="docutils literal notranslate"><span class="pre">guardrail_01</span></code> is split into 5 individual openPASS objects with the closed id range from 100001 to 100005.</p>
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+ <div class="section" id="observation-entityrepository">
+<span id="id1"></span><h1>Observation_EntityRepository<a class="headerlink" href="#observation-entityrepository" title="Permalink to this headline">¶</a></h1>
+<p>This observer logs all entities generated for an experiment, split by run and/or persistence.
+In the following, the parametrization and generated outputs of the <code class="docutils literal notranslate"><span class="pre">Observation_EntityRepository</span></code> observer are described.</p>
+<div class="section" id="parametrization">
+<span id="observation-entityrepository-parametrization"></span><h2>Parametrization<a class="headerlink" href="#parametrization" title="Permalink to this headline">¶</a></h2>
+<p>Following parameters are supported:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 16%" />
+<col style="width: 9%" />
+<col style="width: 76%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>FilenamePrefix</p></td>
+<td><p>String</p></td>
+<td><p>(Optional) Prefix for the output files.
+Defaults to <code class="docutils literal notranslate"><span class="pre">Repository</span></code> resulting e.g. in <code class="docutils literal notranslate"><span class="pre">Repository_Run_00.csv</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p>WritePersistentEntities</p></td>
+<td><p>String</p></td>
+<td><p>Defines how persistent, ie cross-run entities such as stationary objects, are logged</p>
+<p>Options:</p>
+<ul class="simple">
+<li><p><strong>Consolidated</strong> (default): Logged together with non persistent entities and hence duplicated for each run.</p></li>
+<li><p><strong>Separate</strong>: Written once into <code class="docutils literal notranslate"><span class="pre">{FilenamePrefix}_Persistent.csv</span></code></p></li>
+<li><p><strong>Skip</strong>: No output.</p></li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>The visualization is searching for files with the default <code class="docutils literal notranslate"><span class="pre">Repository</span></code> prefix, so don’t change it unless you have a reason to.</p>
+</div>
+<p><strong>Example</strong></p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Library></span>Observation_EntityRepository<span class="nt"></Library></span>
+ <span class="nt"><Parameters></span>
+ <span class="c"><!-- If "FilenamePrefix" is skipped, defaults to Value="Repository" --></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"FilenamePrefix"</span> <span class="na">Value=</span><span class="s">"Repository"</span><span class="nt">/></span>
+ <span class="c"><!-- If "WritePersistentEntities" is skipped, defaults to Value="Consolidated"</span>
+<span class="c"> Options: </span>
+<span class="c"> - Consolidated: Concatenate with {FilenamePrefix}_Run_###.csv for each run</span>
+<span class="c"> - Separate: Write to {FilenamePrefix}_Persistent.csv</span>
+<span class="c"> - Skip: No output for persistent entities</span>
+<span class="c"> --></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"WritePersistentEntities"</span> <span class="na">Value=</span><span class="s">"Consolidated"</span><span class="nt">/></span>
+ <span class="nt"></Parameters></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="output-files">
+<h2>Output Files<a class="headerlink" href="#output-files" title="Permalink to this headline">¶</a></h2>
+<div class="section" id="repository-run-csv">
+<span id="observation-entityrepository-run"></span><h3>Repository_Run_###.csv<a class="headerlink" href="#repository-run-csv" title="Permalink to this headline">¶</a></h3>
+<p>This file contains information about entities, which exist only within the given run.
+In other words, <code class="docutils literal notranslate"><span class="pre">Repository_Run_000.csv</span></code> will contain all moving objects, spawned within the first run (zero-based index).</p>
+<p><strong>Example</strong></p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 11%" />
+<col style="width: 11%" />
+<col style="width: 11%" />
+<col style="width: 11%" />
+<col style="width: 11%" />
+<col style="width: 11%" />
+<col style="width: 11%" />
+<col style="width: 11%" />
+<col style="width: 11%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>id</p></th>
+<th class="head"><p>group</p></th>
+<th class="head"><p>source</p></th>
+<th class="head"><p>version</p></th>
+<th class="head"><p>name</p></th>
+<th class="head"><p>secondary id</p></th>
+<th class="head"><p>type</p></th>
+<th class="head"><p>subtype</p></th>
+<th class="head"></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>0</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td><p>Ego</p></td>
+<td></td>
+<td><p>Ego</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>1</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td><p>TF</p></td>
+<td></td>
+<td><p>Scenaro</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>2</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td><p>S1</p></td>
+<td></td>
+<td><p>Scenaro</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>3</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td><p>S2</p></td>
+<td></td>
+<td><p>Scenaro</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>4</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td><p>S3</p></td>
+<td></td>
+<td><p>Scenaro</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>5</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td></td>
+<td></td>
+<td><p>Common</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>6</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td></td>
+<td></td>
+<td><p>Common</p></td>
+<td></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>7</p></td>
+<td><p>MovingObject</p></td>
+<td><p>OpenSCENARIO</p></td>
+<td></td>
+<td></td>
+<td></td>
+<td><p>Common</p></td>
+<td></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>By convention, moving objects start with id 0.</p>
+</div>
+<p>If <code class="docutils literal notranslate"><span class="pre">WritePersistentEntities</span></code> is set to <code class="docutils literal notranslate"><span class="pre">Consolidated</span></code>, each file will also contain information about stationary objects, described below.</p>
+</div>
+<div class="section" id="repository-persistent-csv">
+<span id="observation-entityrepository-persistent"></span><h3>Repository_Persistent.csv<a class="headerlink" href="#repository-persistent-csv" title="Permalink to this headline">¶</a></h3>
+<p>This file contains information about entities, which exist in every single run.
+This includes mainly both objects (starting at 100000) and road elements (starting at 200000), defined by the <a class="reference internal" href="../configs/scenery.html#scenery"><span class="std std-ref">Scenery</span></a>.</p>
+<p><strong>Example</strong></p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 7%" />
+<col style="width: 20%" />
+<col style="width: 11%" />
+<col style="width: 9%" />
+<col style="width: 15%" />
+<col style="width: 16%" />
+<col style="width: 14%" />
+<col style="width: 9%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>id</p></th>
+<th class="head"><p>group</p></th>
+<th class="head"><p>source</p></th>
+<th class="head"><p>version</p></th>
+<th class="head"><p>name</p></th>
+<th class="head"><p>secondary id</p></th>
+<th class="head"><p>type</p></th>
+<th class="head"><p>subtype</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>100000</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>Barrier</p></td>
+<td><p>barrier_01</p></td>
+<td><p>obstacle</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>100001</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_01</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>100002</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_01</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>100003</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_01</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>100004</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_01</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>100005</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_01</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>100006</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_02</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>100007</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_02</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>100008</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_02</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>100009</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_02</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>100010</p></td>
+<td><p>StationaryObject</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>GuardRail</p></td>
+<td><p>guardrail_02</p></td>
+<td><p>railing</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>200000</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>LaneRoadMark</p></td>
+<td></td>
+<td><p>Solid</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>200001</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>LaneRoadMark</p></td>
+<td></td>
+<td><p>Solid</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>200002</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>Lane</p></td>
+<td><p>-3</p></td>
+<td><p>Driving</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>200003</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>LaneRoadMark</p></td>
+<td></td>
+<td><p>Broken</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>200004</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>Lane</p></td>
+<td><p>-2</p></td>
+<td><p>Driving</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>200005</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>LaneRoadMark</p></td>
+<td></td>
+<td><p>Broken</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>200006</p></td>
+<td><p>Others</p></td>
+<td><p>OpenDRIVE</p></td>
+<td><p>1.6</p></td>
+<td><p>Lane</p></td>
+<td><p>-1</p></td>
+<td><p>Driving</p></td>
+<td></td>
+</tr>
+</tbody>
+</table>
+<p>Information coming from the source <code class="docutils literal notranslate"><span class="pre">openDRIVE</span></code> are mapped in the following manner:</p>
+<table class="docutils align-default">
+<colgroup>
+<col style="width: 43%" />
+<col style="width: 57%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Column</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>name</p></td>
+<td><p>name</p></td>
+</tr>
+<tr class="row-odd"><td><p>id</p></td>
+<td><p>secondary id</p></td>
+</tr>
+<tr class="row-even"><td><p>type</p></td>
+<td><p>type</p></td>
+</tr>
+<tr class="row-odd"><td><p>subtype</p></td>
+<td><p>subtype</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Repeated OpenDRIVE objects are internally split into individual objects.
+E.g. a single guard rail object in openDRIVE, is split into individual openPASS objects having consecutive ids.
+In the example above, the openDRIVE object with (secondary) id <code class="docutils literal notranslate"><span class="pre">guardrail_01</span></code> is split into 5 individual openPASS objects with the closed id range from 100001 to 100005.</p>
+</div>
+</div>
+</div>
+</div>
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+ <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
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+ <div class="section" id="overview">
+<h1>Overview<a class="headerlink" href="#overview" title="Permalink to this headline">¶</a></h1>
+<p><strong>OpenPASS</strong> is a tool for executing a traffic based Monte-Carlo simulation and provides capabilities for the following two levels of variation:</p>
+<ol class="arabic simple">
+<li><p><strong>Experiment:</strong> Topmost, an experiment defines the domains of possible inputs, which shall be compared, such as <em>“traffic at high volume”</em> with <em>“traffic at low volume”</em>.
+In this sense, a parameter variation is done at a very coarse level, resulting in two sets of inputs.
+Note that this level is covered by the GUI (see <a class="reference internal" href="../tutorials/20_pcm_simulation.html#pcm-simulation-guide"><span class="std std-ref">PCM Simulation</span></a>).</p></li>
+<li><p><strong>Invocation:</strong> When an input-set is available, <strong>openPASS</strong> invokes a defined number of runs, resulting in a probabilistic sampling of the given state under parameterizable conditions.
+For example, in the aforementioned situation <em>“traffic at high volume”</em>, it would generate participants at <em>“lower speeds”</em> and <em>“smaller gaps”</em>.
+Thereby parameterizable means, that the user has the freedom to define probabilities defining <em>“lower speed”</em> and <em>“smaller gaps”</em>.
+In each invocation, <strong>openPASS</strong> samples from these probabilities to generate a possible traffic situation under the given parameter variation.</p></li>
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+
+ <div class="section" id="component-view">
+<h1>Component View<a class="headerlink" href="#component-view" title="Permalink to this headline">¶</a></h1>
+<p><strong>OpenPASS</strong> is divided into components, which can be roughly divided into <strong>core components</strong> and <strong>model components</strong>.
+The most interesting core components are the individual <strong>spawners</strong>, which are responsible for populating the world in a realistic fashion.
+Model components are again roughly divided into <strong>drivers</strong> and <strong>vehicle components</strong> and represent how an individual participant is composed.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>There are several additional components acting in the background, making sure things work as they should.
+As a guideline, components parameterized through the <strong>ProfilesCatalog</strong> are scope of this guide, others not.</p>
+</div>
+<div class="section" id="components-in-depth">
+<span id="simuserguide-components"></span><h2>Components in Depth<a class="headerlink" href="#components-in-depth" title="Permalink to this headline">¶</a></h2>
+<p>In the following, all available components are described.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="components/driver.html">Driver</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="components/driver.html#algorithmagentfollowingdrivermodel">AlgorithmAgentFollowingDriverModel</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="components/spawner.html">Spawner</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="components/spawner.html#scenariospawner">ScenarioSpawner</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/spawner.html#prerunspawner">PreRunSpawner</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/spawner.html#runtimespawner">RuntimeSpawner</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/spawner.html#trafficgroups">TrafficGroups</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="components/vehicle.html">VehicleComponents</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#aeb">AEB</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#dynamicstrajectoryfollower">DynamicsTrajectoryFollower</a></li>
+<li class="toctree-l2"><a class="reference internal" href="components/vehicle.html#sensorgeometric2d">SensorGeometric2D</a></li>
+</ul>
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diff --git a/content/html/user_guide/sim_user_guide/components/driver.html b/content/html/user_guide/sim_user_guide/components/driver.html
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-
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-<span id="components-driver"></span><h1>Driver<a class="headerlink" href="#driver" title="Permalink to this headline">¶</a></h1>
-<div class="section" id="algorithmagentfollowingdrivermodel">
-<span id="components-agentfollowingdrivermodel"></span><h2>AlgorithmAgentFollowingDriverModel<a class="headerlink" href="#algorithmagentfollowingdrivermodel" title="Permalink to this headline">¶</a></h2>
-<p>This driver type adapts its velocity to an agent in front and holds a desired velocity if there’s no front agent available (like adaptive cruise control). The lateral guidance always keeps the agent in the middle of the lane.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Regular"</span><span class="nt">></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"Type"</span> <span class="na">Value=</span><span class="s">"AlgorithmAgentFollowingDriverModel"</span><span class="nt">/></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"AlgorithmLateralModule"</span> <span class="na">Value=</span><span class="s">"Algorithm_LateralAfdm"</span><span class="nt">/></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"AlgorithmLongitudinalModule"</span> <span class="na">Value=</span><span class="s">"Algorithm_LongitudinalAfdm"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"VelocityWish"</span> <span class="na">Value=</span><span class="s">"36.11"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Delta"</span> <span class="na">Value=</span><span class="s">"4.0"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"TGapWish"</span> <span class="na">Value=</span><span class="s">"1.5"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"MinDistance"</span> <span class="na">Value=</span><span class="s">"2.0"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"MaxAcceleration"</span> <span class="na">Value=</span><span class="s">"1.4"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"MaxDeceleration"</span> <span class="na">Value=</span><span class="s">"2.0"</span><span class="nt">/></span>
-<span class="nt"></Profile></span>
-</pre></div>
-</div>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 14%" />
-<col style="width: 5%" />
-<col style="width: 2%" />
-<col style="width: 63%" />
-<col style="width: 15%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Defaults to</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>AlgorithmLateralModule</p></td>
-<td><p>String</p></td>
-<td></td>
-<td><p>Behavior model for the steering wheel angle of the driver</p></td>
-<td><p>Required value</p></td>
-</tr>
-<tr class="row-odd"><td><p>AlgorithmLongitudinalModule</p></td>
-<td><p>String</p></td>
-<td></td>
-<td><p>Behavior model for the accelerator, brake pedal position, and the current gear of the driver</p></td>
-<td><p>Required value</p></td>
-</tr>
-<tr class="row-even"><td><p>VelocityWish</p></td>
-<td><p>Double</p></td>
-<td><p>m/s</p></td>
-<td><p>Desired speed</p></td>
-<td><p><abbr title="120 km/h">33.33 m/s</abbr></p></td>
-</tr>
-<tr class="row-odd"><td><p>Delta</p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant)</p></td>
-<td><p>4.0</p></td>
-</tr>
-<tr class="row-even"><td><p>TGapWish</p></td>
-<td><p>Double</p></td>
-<td><p>s</p></td>
-<td><p>Desired time gap between ego and front agent</p></td>
-<td><p>1.5 s</p></td>
-</tr>
-<tr class="row-odd"><td><p>MinDistance</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Minimum distance between ego and front (used at slow speeds); Also called jam distance</p></td>
-<td><p>2.0 m</p></td>
-</tr>
-<tr class="row-even"><td><p>MaxAcceleration</p></td>
-<td><p>Double</p></td>
-<td><p>m/s²</p></td>
-<td><p>Maximum acceleration in satisfactory way, not vehicle possible acceleration</p></td>
-<td><p>1.4 m/s²</p></td>
-</tr>
-<tr class="row-odd"><td><p>MaxDeceleration</p></td>
-<td><p>Double</p></td>
-<td><p>m/s²</p></td>
-<td><p>Desired deceleration</p></td>
-<td><p>2.0 m/s²</p></td>
-</tr>
-</tbody>
-</table>
-<div class="admonition-todo admonition" id="id1">
-<p class="admonition-title">Todo</p>
-<p>Check description of Delta</p>
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+ <div class="section" id="driver">
+<span id="components-driver"></span><h1>Driver<a class="headerlink" href="#driver" title="Permalink to this headline">¶</a></h1>
+<div class="section" id="algorithmagentfollowingdrivermodel">
+<span id="components-agentfollowingdrivermodel"></span><h2>AlgorithmAgentFollowingDriverModel<a class="headerlink" href="#algorithmagentfollowingdrivermodel" title="Permalink to this headline">¶</a></h2>
+<p>This driver type adapts its velocity to an agent in front and holds a desired velocity if there’s no front agent available (like adaptive cruise control). The lateral guidance always keeps the agent in the middle of the lane.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Regular"</span><span class="nt">></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"Type"</span> <span class="na">Value=</span><span class="s">"AlgorithmAgentFollowingDriverModel"</span><span class="nt">/></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"AlgorithmLateralModule"</span> <span class="na">Value=</span><span class="s">"Algorithm_LateralAfdm"</span><span class="nt">/></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"AlgorithmLongitudinalModule"</span> <span class="na">Value=</span><span class="s">"Algorithm_LongitudinalAfdm"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"VelocityWish"</span> <span class="na">Value=</span><span class="s">"36.11"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Delta"</span> <span class="na">Value=</span><span class="s">"4.0"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"TGapWish"</span> <span class="na">Value=</span><span class="s">"1.5"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"MinDistance"</span> <span class="na">Value=</span><span class="s">"2.0"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"MaxAcceleration"</span> <span class="na">Value=</span><span class="s">"1.4"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"MaxDeceleration"</span> <span class="na">Value=</span><span class="s">"2.0"</span><span class="nt">/></span>
+<span class="nt"></Profile></span>
+</pre></div>
+</div>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 14%" />
+<col style="width: 5%" />
+<col style="width: 2%" />
+<col style="width: 63%" />
+<col style="width: 15%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Defaults to</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>AlgorithmLateralModule</p></td>
+<td><p>String</p></td>
+<td></td>
+<td><p>Behavior model for the steering wheel angle of the driver</p></td>
+<td><p>Required value</p></td>
+</tr>
+<tr class="row-odd"><td><p>AlgorithmLongitudinalModule</p></td>
+<td><p>String</p></td>
+<td></td>
+<td><p>Behavior model for the accelerator, brake pedal position, and the current gear of the driver</p></td>
+<td><p>Required value</p></td>
+</tr>
+<tr class="row-even"><td><p>VelocityWish</p></td>
+<td><p>Double</p></td>
+<td><p>m/s</p></td>
+<td><p>Desired speed</p></td>
+<td><p><abbr title="120 km/h">33.33 m/s</abbr></p></td>
+</tr>
+<tr class="row-odd"><td><p>Delta</p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant)</p></td>
+<td><p>4.0</p></td>
+</tr>
+<tr class="row-even"><td><p>TGapWish</p></td>
+<td><p>Double</p></td>
+<td><p>s</p></td>
+<td><p>Desired time gap between ego and front agent</p></td>
+<td><p>1.5 s</p></td>
+</tr>
+<tr class="row-odd"><td><p>MinDistance</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Minimum distance between ego and front (used at slow speeds); Also called jam distance</p></td>
+<td><p>2.0 m</p></td>
+</tr>
+<tr class="row-even"><td><p>MaxAcceleration</p></td>
+<td><p>Double</p></td>
+<td><p>m/s²</p></td>
+<td><p>Maximum acceleration in satisfactory way, not vehicle possible acceleration</p></td>
+<td><p>1.4 m/s²</p></td>
+</tr>
+<tr class="row-odd"><td><p>MaxDeceleration</p></td>
+<td><p>Double</p></td>
+<td><p>m/s²</p></td>
+<td><p>Desired deceleration</p></td>
+<td><p>2.0 m/s²</p></td>
+</tr>
+</tbody>
+</table>
+<div class="admonition-todo admonition" id="id1">
+<p class="admonition-title">Todo</p>
+<p>Check description of Delta</p>
+</div>
+</div>
+</div>
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-<span id="components-spawner"></span><h1>Spawner<a class="headerlink" href="#spawner" title="Permalink to this headline">¶</a></h1>
-<p id="components-scenariospawner">Spawners are responsible to populate the world.
-In order to do so, several spawners can be used, whereas only the <strong>ScenarioSpawner</strong> is mandatory.</p>
-<div class="section" id="scenariospawner">
-<h2>ScenarioSpawner<a class="headerlink" href="#scenariospawner" title="Permalink to this headline">¶</a></h2>
-<p>The ScenarioSpawner is responsible for spawning Ego and Scenario vehicles as defined in the Scenario configuration file.
-It is only called once initially and is <strong>mandatory</strong> for each simulation.
-This Spawner should trigger before any other Spawners.</p>
-<p>The ScenarioSpawner has no parameters.</p>
-<p>Behavior:</p>
-<ul class="simple">
-<li><p>In order to spawn correctly, a position for each Ego and Scenario vehicle is necessary, normally coming from the scenario (recommended).
-As the position is <em>optional</em> in openSCENARIO it is possible that it is <strong>not defined</strong>.
-In such cases spawning takes place at <code class="docutils literal notranslate"><span class="pre">x</span> <span class="pre">=</span> <span class="pre">0</span></code> and <code class="docutils literal notranslate"><span class="pre">y</span> <span class="pre">=</span> <span class="pre">0</span></code>.</p></li>
-<li><p>If there is no route defined in the Scenario, the Spawner will set a random route starting at the spawning position.</p></li>
-<li><p>If there are multiple lanes at this position (this is only possible on junctions) it will take the lane with the lowest relative heading.</p></li>
-</ul>
-</div>
-<div class="section" id="prerunspawner">
-<span id="components-prerunspawner"></span><h2>PreRunSpawner<a class="headerlink" href="#prerunspawner" title="Permalink to this headline">¶</a></h2>
-<p>The PreRunSpawner is responsible for populating the scenery/world with Common-Agents before the simulator starts.
-This Spawner only acts once before the simulator starts and not during the simulation run.
-The PreRunSpawner needs a list of SpawnPoints that define where it will spawn agents and a list of weighted <a class="reference internal" href="#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> that defines the type and parameters of the spawned agents.
-The SpawnPoints have the following parameters:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 8%" />
-<col style="width: 11%" />
-<col style="width: 4%" />
-<col style="width: 77%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Roads</p></td>
-<td><p>StringVector</p></td>
-<td></td>
-<td><p>The RoadIDs of the Roads on which to spawn Agents.
-Multiple roads can be given as a comma-separated list.
-Inexistent roads are ignored.</p></td>
-</tr>
-<tr class="row-odd"><td><p>Lanes</p></td>
-<td><p>IntVector</p></td>
-<td></td>
-<td><p>The LaneIDs of the Lanes of the Road on which to spawn Agents.
-Multiple lanes can be given as a comma-separated list.
-Inexistent lanes are ignored.</p></td>
-</tr>
-<tr class="row-even"><td><p>SStart</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>The S position specifying the minimum S for the range within which to spawn Agents</p></td>
-</tr>
-<tr class="row-odd"><td><p>SEnd</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>The S position specifying the maximum S for the range within which to spawn Agents</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"DefaultPreRunCommon"</span><span class="nt">></span>
- <span class="nt"><List</span> <span class="na">Name=</span><span class="s">"SpawnPoints"</span><span class="nt">></span>
- <span class="nt"><ListItem></span>
- <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"Roads"</span> <span class="na">Value=</span><span class="s">"1"</span><span class="nt">/></span>
- <span class="nt"><IntVector</span> <span class="na">Key=</span><span class="s">"Lanes"</span> <span class="na">Value=</span><span class="s">"-1,-2,-3,-4,-5"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SStart"</span> <span class="na">Value=</span><span class="s">"0.0"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SEnd"</span> <span class="na">Value=</span><span class="s">"1000.0"</span><span class="nt">/></span>
- <span class="nt"></ListItem></span>
- <span class="nt"></List></span>
- <span class="nt"><List</span> <span class="na">Name=</span><span class="s">"TrafficGroups"</span><span class="nt">></span>
- <span class="nt"><ListItem></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"4"</span><span class="nt">/></span>
- <span class="nt"><Reference</span> <span class="na">Type=</span><span class="s">"TrafficGroup"</span> <span class="na">Name=</span><span class="s">"LightVehicles"</span><span class="nt">/></span>
- <span class="nt"></ListItem></span>
- <span class="nt"><ListItem></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"1"</span><span class="nt">/></span>
- <span class="nt"><Reference</span> <span class="na">Type=</span><span class="s">"TrafficGroup"</span> <span class="na">Name=</span><span class="s">"HeavyVehicles"</span><span class="nt">/></span>
- <span class="nt"></ListItem></span>
- <span class="nt"></List></span>
-<span class="nt"></Profile></span>
-</pre></div>
-</div>
-<p>The PreRunCommonSpawner will spawn common agents on the specified Lanes of the specified Road from the s position S-Start to the s position S-End based on the parameters of the TrafficGroups.
-The following restrictions apply:</p>
-<ul>
-<li><dl class="simple">
-<dt>The PreRunCommonSpawner only spawns on the following OpenDRIVE lane types:</dt><dd><ul class="simple">
-<li><p>Driving</p></li>
-<li><p>OnRamp</p></li>
-<li><p>OffRamp</p></li>
-<li><p>ConnectingRamp</p></li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><p>If the ScenarioSpawner spawned Scenario Agents (including the Ego agent) before this Spawner is triggered (in the intended order of these Spawners), ranges between the Scenario Agents are invalid for spawning by this Spawner.
-The spawn ranges will only be augmented by Scenario Agents on the same Road and Lane.
-As such, there are 7 different potential scenarios that may arise in terms of how the valid spawn ranges of the spawner may be impacted:</p>
-<ol class="arabic">
-<li><p><strong>Two Scenario Agents on the same Road and Lane</strong></p>
-<p>One before S-Start position and one after S-End position:
-This invalidates the entirety of the spawning range; no agents may be spawned here</p>
-</li>
-<li><p><strong>Two Scenario Agents on the same Road and Lane</strong></p>
-<p>One between S-Start position and S-End position and one either before S-Start or after S-End:
-The only valid spawn range is that on the opposite side of the in-specified-range Agent from the outside-specified-range agent</p>
-</li>
-<li><p><strong>Two Scenario Agents on the same Road and Lane</strong></p>
-<p>Both within the specified S-Start and S-End positions
-The valid spawn ranges are between S-Start and the first car and between the second car and S-End</p>
-</li>
-<li><p><strong>Two Scenario Agents on the same Road and Lane</strong></p>
-<p>Both outside the specified S-Start and S-End positions on the same side (both before S-Start or both after S-End):
-The specified spawn range is entirely valid</p>
-</li>
-<li><p><strong>One Scenario Agent on the same Road and Lane</strong></p>
-<p>Within specified S-Start and S-End positions:
-The valid spawn ranges include all but the bounds of the Agent within the specified S-Start and S-End positions</p>
-</li>
-<li><p><strong>One Scenario Agent on the same Road and Lane</strong></p>
-<p>Outside specified S-Start and S-End positions:
-The specified spawn range is entirely valid</p>
-</li>
-<li><p><strong>No Scenario Agents on the same Road and Lane</strong></p>
-<p>The specified spawn range is entirely valid</p>
-</li>
-</ol>
-</li>
-<li><p>If a non-existent road is specified, no spawning will occur</p></li>
-<li><p>If only non-existent lanes for an existent road are specified, no spawning will occur</p></li>
-<li><p>If some specified lanes exist and some are non-existent for an existent road, spawning will occur for the lanes which do exist</p></li>
-<li><p>If the specified S-Start and S-End positions are either beyond or before the S positions at which the specified Road and Lane combination exists, no spawning will occur</p></li>
-<li><p>In the situation where a section of a Road adds a new lane to the left of the currently existing lanes, one should be aware that the laneId “-1” will shift to the newest left lane and should adjust Spawner profiles with this in mind</p></li>
-</ul>
-<p>Once the spawning ranges are determined the PreRunSpawner will spawn for each spawning area based on the following logic:</p>
-<ol class="arabic simple">
-<li><p>First the agentprofile needs to be determined. If the current spawn position evaluate to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.</p></li>
-<li><p>Then the time gap between the new agent and the closest existing agent is sampled.</p></li>
-<li><p>Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.</p></li>
-<li><p>The gap and velocity are used to calculate the distance between the new agent and the next agent in this spawnarea. Here a minimum distance of 5m between agents is required.</p></li>
-<li><p>A random route is sampled starting at the appropriate road</p></li>
-<li><p>Based on the distance and the velocity the TTC (2s) conditions are evaluated.If the TTC is critical the spawn velocity is reduced to fulfill the TTC requirements.</p></li>
-<li><p>As a final step the spawnpoint evaluates the spawncoordinates. If they are valid the agent is created, else the spawnpoint moves on to the next spawning range.</p></li>
-</ol>
-</div>
-<div class="section" id="runtimespawner">
-<span id="components-runtimespawner"></span><h2>RuntimeSpawner<a class="headerlink" href="#runtimespawner" title="Permalink to this headline">¶</a></h2>
-<p>The RuntimeSpawner (included in library “SpawnPointRuntimeCommon_OSI”) is responsible for maintaining a populated scenery throughout the simulation runtime.
-It acts at each timestep throughout the simulation run and attempts to spawn Common Agents at the specified location(s).
-The RuntimeSpawner needs a list of Spawners that define where it will spawn agents and a list of weighted <a class="reference internal" href="#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> that defines the type and parameters of the spawned agents.
-The Spawners have the following parameters:</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 11%" />
-<col style="width: 14%" />
-<col style="width: 5%" />
-<col style="width: 70%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>Roads</p></td>
-<td><p>StringVector</p></td>
-<td></td>
-<td><p>The RoadIDs of the Roads on which to spawn Agents</p></td>
-</tr>
-<tr class="row-odd"><td><p>Lanes</p></td>
-<td><p>IntVector</p></td>
-<td></td>
-<td><p>The LaneIDs of the Lanes of the Road on which to spawn Agents</p></td>
-</tr>
-<tr class="row-even"><td><p>S-Position</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>The S position specifying at which point to spawn Agents</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"DefaultRuntimeCommon"</span><span class="nt">></span>
- <span class="nt"><List</span> <span class="na">Name=</span><span class="s">"SpawnPoints"</span><span class="nt">></span>
- <span class="nt"><ListItem></span>
- <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"Roads"</span> <span class="na">Value=</span><span class="s">"1"</span><span class="nt">/></span>
- <span class="nt"><IntVector</span> <span class="na">Key=</span><span class="s">"Lanes"</span> <span class="na">Value=</span><span class="s">"-1,-2,-3,-4,-5"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SCoordinate"</span> <span class="na">Value=</span><span class="s">"0.0"</span><span class="nt">/></span>
- <span class="nt"></ListItem></span>
- <span class="nt"></List></span>
- <span class="nt"><List</span> <span class="na">Name=</span><span class="s">"TrafficGroups"</span><span class="nt">></span>
- <span class="nt"><ListItem></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"4"</span><span class="nt">/></span>
- <span class="nt"><Reference</span> <span class="na">Type=</span><span class="s">"TrafficGroup"</span> <span class="na">Name=</span><span class="s">"LightVehicles"</span><span class="nt">/></span>
- <span class="nt"></ListItem></span>
- <span class="nt"><ListItem></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"1"</span><span class="nt">/></span>
- <span class="nt"><Reference</span> <span class="na">Type=</span><span class="s">"TrafficGroup"</span> <span class="na">Name=</span><span class="s">"HeavyVehicles"</span><span class="nt">/></span>
- <span class="nt"></ListItem></span>
- <span class="nt"></List></span>
-<span class="nt"></Profile></span>
-</pre></div>
-</div>
-<p>The RuntimeSpawner will spawn based on the following logic:</p>
-<ul class="simple">
-<li><p>First the agentprofile needs to be determined. If the current spawn position evaluates to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.</p></li>
-<li><p>Then the time gap between the new agent and the closest existing agent is sampled.</p></li>
-<li><p>Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.</p></li>
-<li><p>A random route is sampled starting at the appropriate road</p></li>
-<li><p>Once the timely gap expires, the spawnpoint evaluate if the TTC (2s) conditions and a minimum required distance between agents (5m) are met. If the TTC is critical the spawn velocity is reduced to fullfill the TTC requriements. If the minimum distance is not fullfilled, the agent will be held back.</p></li>
-<li><p>If all requirements were fullfilled the agent is spawned.</p></li>
-</ul>
-<p>The RuntimeSpawner only spawns on the following OpenDRIVE lane types: Driving, OnRamp</p>
-</div>
-<div class="section" id="trafficgroups">
-<span id="components-trafficgroups"></span><h2>TrafficGroups<a class="headerlink" href="#trafficgroups" title="Permalink to this headline">¶</a></h2>
-<p>Both the <a class="reference internal" href="#components-prerunspawner"><span class="std std-ref">PreRunSpawner</span></a> and the <a class="reference internal" href="#components-runtimespawner"><span class="std std-ref">RuntimeSpawner</span></a> need one or more TrafficGroup.
-These are typically defined in a separate ProfileGroup of type “TrafficGroup” and then reference by the spawner profile.
-In this way both spawner can use the same TrafficGroups.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 7%" />
-<col style="width: 7%" />
-<col style="width: 2%" />
-<col style="width: 85%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>AgentProfiles</p></td>
-<td><p><List></p></td>
-<td></td>
-<td><p>A set of <ListItem>s which define potential AgentProfile values for the Agents spawned in the SpawnArea and the probability at which the TrafficVolume will be selected</p></td>
-</tr>
-<tr class="row-odd"><td><p>Velocity</p></td>
-<td><p>Distribution</p></td>
-<td><p>m/s</p></td>
-<td><p>A stochastic distribution describing the velocity of the spawned Agents</p></td>
-</tr>
-<tr class="row-even"><td><p>TGap</p></td>
-<td><p>Distribution</p></td>
-<td><p>s</p></td>
-<td><p>A stochastic distribution describing the time gap between spawned Agents</p></td>
-</tr>
-<tr class="row-odd"><td><p>Homogeneity</p></td>
-<td><p>DoubleVector</p></td>
-<td></td>
-<td><p>OPTIONAL: A vector describing the velocity increments for left lanes</p></td>
-</tr>
-<tr class="row-even"><td><p>RightLaneOnly</p></td>
-<td><p>Bool</p></td>
-<td></td>
-<td><p>OPTIONAL: A flag determining whether this TrafficGroup can only be applied to the right most lane</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"LightVehicles"</span><span class="nt">></span>
- <span class="nt"><List</span> <span class="na">Name=</span><span class="s">"AgentProfiles"</span><span class="nt">></span>
- <span class="nt"><ListItem></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"Name"</span> <span class="na">Value=</span><span class="s">"LuxuryClassCarAgent"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"0.4"</span><span class="nt">/></span>
- <span class="nt"></ListItem></span>
- <span class="nt"><ListItem></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"Name"</span> <span class="na">Value=</span><span class="s">"MiddleClassCarAgent"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"0.6"</span><span class="nt">/></span>
- <span class="nt"></ListItem></span>
- <span class="nt"></List></span>
- <span class="nt"><NormalDistribution</span> <span class="na">Key=</span><span class="s">"Velocity"</span> <span class="na">Max=</span><span class="s">"43.685"</span> <span class="na">Mean=</span><span class="s">"31.475"</span> <span class="na">Min=</span><span class="s">"19.265"</span> <span class="na">SD=</span><span class="s">"6.105"</span><span class="nt">/></span>
- <span class="nt"><LogNormalDistribution</span> <span class="na">Key=</span><span class="s">"TGap"</span> <span class="na">Max=</span><span class="s">"80"</span> <span class="na">Min=</span><span class="s">"0.5"</span> <span class="na">Mu=</span><span class="s">"1.5"</span> <span class="na">Sigma=</span><span class="s">"1.7"</span><span class="nt">/></span>
- <span class="nt"><DoubleVector</span> <span class="na">Key=</span><span class="s">"Homogeneity"</span> <span class="na">Value=</span><span class="s">"0.820, 1.0"</span><span class="nt">/></span>
-<span class="nt"></Profile></span>
-</pre></div>
-</div>
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+ <div class="section" id="spawner">
+<span id="components-spawner"></span><h1>Spawner<a class="headerlink" href="#spawner" title="Permalink to this headline">¶</a></h1>
+<p>Spawners are responsible to populate the world.
+In order to do so, several spawners can be used, whereas only the <strong>ScenarioSpawner</strong> is mandatory.</p>
+<div class="section" id="scenariospawner">
+<span id="components-scenariospawner"></span><h2>ScenarioSpawner<a class="headerlink" href="#scenariospawner" title="Permalink to this headline">¶</a></h2>
+<p>The ScenarioSpawner is responsible for spawning Ego and Scenario vehicles as defined in the Scenario configuration file.
+It is only called once initially and is <strong>mandatory</strong> for each simulation.
+This Spawner should trigger before any other Spawners.</p>
+<p>The ScenarioSpawner has no parameters.</p>
+<p>Behavior:</p>
+<ul class="simple">
+<li><p>In order to spawn correctly, a position for each Ego and Scenario vehicle is necessary, normally coming from the scenario (recommended).
+As the position is <em>optional</em> in openSCENARIO it is possible that it is <strong>not defined</strong>.
+In such cases spawning takes place at <code class="docutils literal notranslate"><span class="pre">x</span> <span class="pre">=</span> <span class="pre">0</span></code> and <code class="docutils literal notranslate"><span class="pre">y</span> <span class="pre">=</span> <span class="pre">0</span></code>.</p></li>
+<li><p>If there is no route defined in the Scenario, the Spawner will set a random route starting at the spawning position.</p></li>
+<li><p>If there are multiple lanes at this position (this is only possible on junctions) it will take the lane with the lowest relative heading.</p></li>
+</ul>
+</div>
+<div class="section" id="prerunspawner">
+<span id="components-prerunspawner"></span><h2>PreRunSpawner<a class="headerlink" href="#prerunspawner" title="Permalink to this headline">¶</a></h2>
+<p>The PreRunSpawner is responsible for populating the scenery/world with Common-Agents before the simulator starts.
+This Spawner only acts once before the simulator starts and not during the simulation run.
+The PreRunSpawner needs a list of SpawnZones that define where it will spawn agents and a list of weighted <a class="reference internal" href="#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> that defines the type and parameters of the spawned agents.
+The SpawnZones have the following parameters:</p>
+<p>SStart, SEnd and SLength may be out of range for the road.
+In this case they are cropped such that the spawn range is maximum within the road’s bounds.
+It is also possible to define the minimum gap in meters either as fixed parameter of type double or as stochastic distribution.
+If it isn’t defined the default value of 5m is used.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"DefaultPreRunCommon"</span><span class="nt">></span>
+ <span class="nt"><List</span> <span class="na">Name=</span><span class="s">"SpawnZones"</span><span class="nt">></span>
+ <span class="nt"><ListItem></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"Roads"</span> <span class="na">Value=</span><span class="s">"1"</span><span class="nt">/></span>
+ <span class="nt"><IntVector</span> <span class="na">Key=</span><span class="s">"Lanes"</span> <span class="na">Value=</span><span class="s">"-1,-2,-3,-4,-5"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SStart"</span> <span class="na">Value=</span><span class="s">"0.0"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SEnd"</span> <span class="na">Value=</span><span class="s">"1000.0"</span><span class="nt">/></span>
+ <span class="nt"></ListItem></span>
+ <span class="nt"></List></span>
+ <span class="nt"><List</span> <span class="na">Name=</span><span class="s">"TrafficGroups"</span><span class="nt">></span>
+ <span class="nt"><ListItem></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"4"</span><span class="nt">/></span>
+ <span class="nt"><Reference</span> <span class="na">Type=</span><span class="s">"TrafficGroup"</span> <span class="na">Name=</span><span class="s">"LightVehicles"</span><span class="nt">/></span>
+ <span class="nt"></ListItem></span>
+ <span class="nt"><ListItem></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"1"</span><span class="nt">/></span>
+ <span class="nt"><Reference</span> <span class="na">Type=</span><span class="s">"TrafficGroup"</span> <span class="na">Name=</span><span class="s">"HeavyVehicles"</span><span class="nt">/></span>
+ <span class="nt"></ListItem></span>
+ <span class="nt"></List></span>
+<span class="nt"></Profile></span>
+</pre></div>
+</div>
+<p>The PreRunCommonSpawner will spawn common agents on the specified Lanes of the specified continuous Road sequence (= RoadStream) inside the specified s interval based on the parameters of the TrafficGroups.
+The following restrictions apply:</p>
+<ul>
+<li><dl class="simple">
+<dt>The PreRunCommonSpawner only spawns on the following OpenDRIVE lane types:</dt><dd><ul class="simple">
+<li><p>Driving</p></li>
+<li><p>OnRamp</p></li>
+<li><p>OffRamp</p></li>
+<li><p>ConnectingRamp</p></li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><p>If the ScenarioSpawner spawned Scenario Agents (including the Ego agent) before this Spawner is triggered (in the intended order of these Spawners), ranges between the Scenario Agents are invalid for spawning by this Spawner.
+The spawn ranges will only be augmented by Scenario Agents on the same Lane.
+As such, there are 7 different potential scenarios that may arise in terms of how the valid spawn ranges of the spawner may be impacted:</p>
+<ol class="arabic">
+<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
+<p>One before S-Start position and one after S-End position:
+This invalidates the entirety of the spawning range; no agents may be spawned here</p>
+</li>
+<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
+<p>One between S-Start position and S-End position and one either before S-Start or after S-End:
+The only valid spawn range is that on the opposite side of the in-specified-range Agent from the outside-specified-range agent</p>
+</li>
+<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
+<p>Both within the specified S-Start and S-End positions
+The valid spawn ranges are between S-Start and the first car and between the second car and S-End</p>
+</li>
+<li><p><strong>Two Scenario Agents on the same Lane</strong></p>
+<p>Both outside the specified S-Start and S-End positions on the same side (both before S-Start or both after S-End):
+The specified spawn range is entirely valid</p>
+</li>
+<li><p><strong>One Scenario Agent on the same Lane</strong></p>
+<p>Within specified S-Start and S-End positions:
+The valid spawn ranges include all but the bounds of the Agent within the specified S-Start and S-End positions</p>
+</li>
+<li><p><strong>One Scenario Agent on the same Lane</strong></p>
+<p>Outside specified S-Start and S-End positions:
+The specified spawn range is entirely valid</p>
+</li>
+<li><p><strong>No Scenario Agents on the same Lane</strong></p>
+<p>The specified spawn range is entirely valid</p>
+</li>
+</ol>
+</li>
+<li><p>If only non-existent lanes on SStart are specified, no spawning will occur</p></li>
+<li><p>If some specified lanes exist and some are non-existent, spawning will occur for the lanes which do exist</p></li>
+</ul>
+<p>Once the spawning ranges are determined the PreRunSpawner will spawn for each spawning area based on the following logic:</p>
+<ol class="arabic simple">
+<li><p>First the agentprofile needs to be determined. If the current spawn position evaluate to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.</p></li>
+<li><p>Then the time gap between the new agent and the closest existing agent is sampled.</p></li>
+<li><p>Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.</p></li>
+<li><p>The gap and velocity are used to calculate the distance between the new agent and the next agent in this spawnarea. Here a minimum distance of 5m between agents is required.</p></li>
+<li><p>A random route is sampled starting at the appropriate road</p></li>
+<li><p>Based on the distance and the velocity the TTC (2s) conditions are evaluated.If the TTC is critical the spawn velocity is reduced to fulfill the TTC requirements.</p></li>
+<li><p>As a final step the spawnzone evaluates the spawncoordinates. If they are valid the agent is created, else the spawnzone moves on to the next spawning range.</p></li>
+</ol>
+</div>
+<div class="section" id="runtimespawner">
+<span id="components-runtimespawner"></span><h2>RuntimeSpawner<a class="headerlink" href="#runtimespawner" title="Permalink to this headline">¶</a></h2>
+<p>The RuntimeSpawner (included in library “SpawnerRuntimeCommon_OSI”) is responsible for maintaining a populated scenery throughout the simulation runtime.
+It acts at each timestep throughout the simulation run and attempts to spawn Common Agents at the specified location(s).
+The RuntimeSpawner needs a list of Spawners that define where it will spawn agents and a list of weighted <a class="reference internal" href="#components-trafficgroups"><span class="std std-ref">TrafficGroups</span></a> that defines the type and parameters of the spawned agents.
+The Spawners have the following parameters:</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 11%" />
+<col style="width: 14%" />
+<col style="width: 5%" />
+<col style="width: 70%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Roads</p></td>
+<td><p>StringVector</p></td>
+<td></td>
+<td><p>The RoadIDs of the Roads on which to spawn Agents</p></td>
+</tr>
+<tr class="row-odd"><td><p>Lanes</p></td>
+<td><p>IntVector</p></td>
+<td></td>
+<td><p>The LaneIDs of the Lanes of the Road on which to spawn Agents</p></td>
+</tr>
+<tr class="row-even"><td><p>S-Position</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>The S position specifying at which point to spawn Agents</p></td>
+</tr>
+</tbody>
+</table>
+<p>It is also possible to define the minimum gap in meters either as fixed parameter of type double or as stochastic distribution.
+If it isn’t defined the default value of 5m is used.</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"DefaultRuntimeCommon"</span><span class="nt">></span>
+ <span class="nt"><List</span> <span class="na">Name=</span><span class="s">"SpawnPoints"</span><span class="nt">></span>
+ <span class="nt"><ListItem></span>
+ <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"Roads"</span> <span class="na">Value=</span><span class="s">"1"</span><span class="nt">/></span>
+ <span class="nt"><IntVector</span> <span class="na">Key=</span><span class="s">"Lanes"</span> <span class="na">Value=</span><span class="s">"-1,-2,-3,-4,-5"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"SCoordinate"</span> <span class="na">Value=</span><span class="s">"0.0"</span><span class="nt">/></span>
+ <span class="nt"></ListItem></span>
+ <span class="nt"></List></span>
+ <span class="nt"><List</span> <span class="na">Name=</span><span class="s">"TrafficGroups"</span><span class="nt">></span>
+ <span class="nt"><ListItem></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"4"</span><span class="nt">/></span>
+ <span class="nt"><Reference</span> <span class="na">Type=</span><span class="s">"TrafficGroup"</span> <span class="na">Name=</span><span class="s">"LightVehicles"</span><span class="nt">/></span>
+ <span class="nt"></ListItem></span>
+ <span class="nt"><ListItem></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"1"</span><span class="nt">/></span>
+ <span class="nt"><Reference</span> <span class="na">Type=</span><span class="s">"TrafficGroup"</span> <span class="na">Name=</span><span class="s">"HeavyVehicles"</span><span class="nt">/></span>
+ <span class="nt"></ListItem></span>
+ <span class="nt"></List></span>
+<span class="nt"></Profile></span>
+</pre></div>
+</div>
+<p>The RuntimeSpawner will spawn based on the following logic:</p>
+<ul class="simple">
+<li><p>First the agentprofile needs to be determined. If the current spawn position evaluates to a right lane, the pool from which the agentprofile is drafted is extended by all traffic groups which contain the RightLaneOnly flag set to true.</p></li>
+<li><p>Then the time gap between the new agent and the closest existing agent is sampled.</p></li>
+<li><p>Afterwards the velocity of the new agent is being sampled under consideration of the homogeneity.</p></li>
+<li><p>A random route is sampled starting at the appropriate road</p></li>
+<li><p>Once the timely gap expires, the spawnpoint evaluate if the TTC (2s) conditions and a minimum required distance between agents (5m) are met. If the TTC is critical the spawn velocity is reduced to fullfill the TTC requriements. If the minimum distance is not fullfilled, the agent will be held back.</p></li>
+<li><p>If all requirements were fullfilled the agent is spawned.</p></li>
+</ul>
+<p>The RuntimeSpawner only spawns on the following OpenDRIVE lane types: Driving, OnRamp</p>
+</div>
+<div class="section" id="trafficgroups">
+<span id="components-trafficgroups"></span><h2>TrafficGroups<a class="headerlink" href="#trafficgroups" title="Permalink to this headline">¶</a></h2>
+<p>Both the <a class="reference internal" href="#components-prerunspawner"><span class="std std-ref">PreRunSpawner</span></a> and the <a class="reference internal" href="#components-runtimespawner"><span class="std std-ref">RuntimeSpawner</span></a> need one or more TrafficGroup.
+These are typically defined in a separate ProfileGroup of type “TrafficGroup” and then reference by the spawner profile.
+In this way both spawner can use the same TrafficGroups.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 7%" />
+<col style="width: 7%" />
+<col style="width: 2%" />
+<col style="width: 85%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>AgentProfiles</p></td>
+<td><p><List></p></td>
+<td></td>
+<td><p>A set of <ListItem>s which define potential AgentProfile values for the Agents spawned in the SpawnArea and the probability at which the TrafficVolume will be selected</p></td>
+</tr>
+<tr class="row-odd"><td><p>Velocity</p></td>
+<td><p>Distribution</p></td>
+<td><p>m/s</p></td>
+<td><p>A stochastic distribution describing the velocity of the spawned Agents</p></td>
+</tr>
+<tr class="row-even"><td><p>TGap</p></td>
+<td><p>Distribution</p></td>
+<td><p>s</p></td>
+<td><p>A stochastic distribution describing the time gap between spawned Agents</p></td>
+</tr>
+<tr class="row-odd"><td><p>Homogeneity</p></td>
+<td><p>DoubleVector</p></td>
+<td></td>
+<td><p>OPTIONAL: A vector describing the velocity increments for left lanes</p></td>
+</tr>
+<tr class="row-even"><td><p>RightLaneOnly</p></td>
+<td><p>Bool</p></td>
+<td></td>
+<td><p>OPTIONAL: A flag determining whether this TrafficGroup can only be applied to the right most lane</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"LightVehicles"</span><span class="nt">></span>
+ <span class="nt"><List</span> <span class="na">Name=</span><span class="s">"AgentProfiles"</span><span class="nt">></span>
+ <span class="nt"><ListItem></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"Name"</span> <span class="na">Value=</span><span class="s">"LuxuryClassCarAgent"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"0.4"</span><span class="nt">/></span>
+ <span class="nt"></ListItem></span>
+ <span class="nt"><ListItem></span>
+ <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"Name"</span> <span class="na">Value=</span><span class="s">"MiddleClassCarAgent"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Weight"</span> <span class="na">Value=</span><span class="s">"0.6"</span><span class="nt">/></span>
+ <span class="nt"></ListItem></span>
+ <span class="nt"></List></span>
+ <span class="nt"><NormalDistribution</span> <span class="na">Key=</span><span class="s">"Velocity"</span> <span class="na">Max=</span><span class="s">"43.685"</span> <span class="na">Mean=</span><span class="s">"31.475"</span> <span class="na">Min=</span><span class="s">"19.265"</span> <span class="na">SD=</span><span class="s">"6.105"</span><span class="nt">/></span>
+ <span class="nt"><LogNormalDistribution</span> <span class="na">Key=</span><span class="s">"TGap"</span> <span class="na">Max=</span><span class="s">"80"</span> <span class="na">Min=</span><span class="s">"0.5"</span> <span class="na">Mu=</span><span class="s">"1.5"</span> <span class="na">Sigma=</span><span class="s">"1.7"</span><span class="nt">/></span>
+ <span class="nt"><DoubleVector</span> <span class="na">Key=</span><span class="s">"Homogeneity"</span> <span class="na">Value=</span><span class="s">"0.820, 1.0"</span><span class="nt">/></span>
+<span class="nt"></Profile></span>
+</pre></div>
+</div>
+</div>
+</div>
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- <div class="section" id="vehiclecomponents">
-<span id="components-vehiclecomponents"></span><h1>VehicleComponents<a class="headerlink" href="#vehiclecomponents" title="Permalink to this headline">¶</a></h1>
-<div class="section" id="aeb">
-<span id="components-aeb"></span><h2>AEB<a class="headerlink" href="#aeb" title="Permalink to this headline">¶</a></h2>
-<p>The Autonomous Emergency Braking system checks if a collision is likely to occur in the near future and, if necessary, brakes to avoid the collision.
-In each timestep, the system evaluates all objects detected by a Sensor and calculates the time to collision (TTC) for this object based on the perceived movement of the object.
-If, for any object, the TTC is lower than the threshold of the component, then the component gets activated. The system deactivates if the TTC is larger than 1,5 times the threshold of the component.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 29%" />
-<col style="width: 5%" />
-<col style="width: 3%" />
-<col style="width: 63%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>CollisionDetectionLongitudinalBoundary</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Additional length added the vehicle boundary when checking for collision detection</p></td>
-</tr>
-<tr class="row-odd"><td><p>CollisionDetectionLateralBoundary</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Additional width added the vehicle boundary when checking for collision detection</p></td>
-</tr>
-<tr class="row-even"><td><p>TTC</p></td>
-<td><p>Double</p></td>
-<td><p>s</p></td>
-<td><p>Time to collision which is used to trigger AEB</p></td>
-</tr>
-<tr class="row-odd"><td><p>Acceleration</p></td>
-<td><p>Double</p></td>
-<td><p>m/s²</p></td>
-<td><p>Braking acceleration when activated</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"AEB"</span><span class="nt">></span>
- <span class="nt"><Profile</span> <span class="na">Type=</span><span class="s">"AEB"</span> <span class="na">Name=</span><span class="s">"AEB1"</span><span class="nt">></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"CollisionDetectionLongitudinalBoundary"</span> <span class="na">Value=</span><span class="s">"4.0"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"CollisionDetectionLateralBoundary"</span> <span class="na">Value=</span><span class="s">"1.5"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"TTC"</span> <span class="na">Value=</span><span class="s">"2.0"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Acceleration"</span> <span class="na">Value=</span><span class="s">"-2"</span><span class="nt">/></span>
- <span class="nt"></Profile></span>
- ...
-<span class="nt"></ProfileGroup></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="dynamicstrajectoryfollower">
-<span id="components-trajectoryfollower"></span><h2>DynamicsTrajectoryFollower<a class="headerlink" href="#dynamicstrajectoryfollower" title="Permalink to this headline">¶</a></h2>
-<p>This module forces agents to drive according to a specific trajectory. The trajectory is defined in the scenario. This module is disabled by default and is activated if a trajectory from openSCENARIO is triggered.
-It is always important that the trajectories matches the current scenery file, otherwise the Agent could be placed outside of valid lanes. If the agent gets placed on a invalid position, it will be deleted.</p>
-<p>All attributes are required.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 15%" />
-<col style="width: 3%" />
-<col style="width: 83%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Attribute</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>AutomaticDeactivation</p></td>
-<td><p>Bool</p></td>
-<td><p>If true, the trajectory follower relinquishes control of the vehicle after the final instruction in the TrajectoryFile.</p></td>
-</tr>
-<tr class="row-odd"><td><p>EnforceTrajectory</p></td>
-<td><p>Bool</p></td>
-<td><p>If true, the trajectory follower overrides external input related to the vehicle’s travel.</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"DynamicsTrajectoryFollower"</span><span class="nt">></span>
- <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"BasicTrajectoryFollower"</span><span class="nt">></span>
- <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"AutomaticDeactivation"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span>
- <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"EnforceTrajectory"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span>
- <span class="nt"></Profile></span>
-<span class="nt"></ProfileGroup></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="sensorgeometric2d">
-<span id="components-geometric2d"></span><h2>SensorGeometric2D<a class="headerlink" href="#sensorgeometric2d" title="Permalink to this headline">¶</a></h2>
-<p>This sensor is selected, when a sensor is parameterized as ProfileGroup “Geometric2D”.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 22%" />
-<col style="width: 4%" />
-<col style="width: 3%" />
-<col style="width: 71%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Parameter</p></th>
-<th class="head"><p>Type</p></th>
-<th class="head"><p>Unit</p></th>
-<th class="head"><p>Description</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>DetectionRange</p></td>
-<td><p>Double</p></td>
-<td><p>m</p></td>
-<td><p>Detection range</p></td>
-</tr>
-<tr class="row-odd"><td><p>EnableVisualObstruction</p></td>
-<td><p>Bool</p></td>
-<td></td>
-<td><p>Activates 2D sensor obstruction calculation</p></td>
-</tr>
-<tr class="row-even"><td><p>FailureProbability</p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Probability of an object detection failure</p></td>
-</tr>
-<tr class="row-odd"><td><p>Latency</p></td>
-<td><p>Double</p></td>
-<td><p>s</p></td>
-<td><p>Sensor latency</p></td>
-</tr>
-<tr class="row-even"><td><p>OpeningAngleH</p></td>
-<td><p>Double</p></td>
-<td><p>rad</p></td>
-<td><p>Horizontal opening angle</p></td>
-</tr>
-<tr class="row-odd"><td><p>RequiredPercentageOfVisibleArea</p></td>
-<td><p>Double</p></td>
-<td></td>
-<td><p>Required percentage of an object within the sensor cone to trigger a detection</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"Geometric2D"</span><span class="nt">></span>
- <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Standard"</span><span class="nt">></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"DetectionRange"</span> <span class="na">Value=</span><span class="s">"300"</span><span class="nt">/></span>
- <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"EnableVisualObstruction"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"FailureProbability"</span> <span class="na">Value=</span><span class="s">"0"</span><span class="nt">/></span>
- <span class="nt"><NormalDistribution</span> <span class="na">Key=</span><span class="s">"Latency"</span>
- <span class="na">Max=</span><span class="s">"0.0"</span>
- <span class="na">Mean=</span><span class="s">"0.0"</span>
- <span class="na">Min=</span><span class="s">"0.0"</span>
- <span class="na">SD=</span><span class="s">"0.0"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"OpeningAngleH"</span> <span class="na">Value=</span><span class="s">"0.35"</span><span class="nt">/></span>
- <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"RequiredPercentageOfVisibleArea"</span> <span class="na">Value=</span><span class="s">"0.001"</span><span class="nt">/></span>
- <span class="nt"></Profile></span>
-<span class="nt"></ProfileGroup></span>
-</pre></div>
-</div>
-<div class="admonition note">
-<p class="admonition-title">Note</p>
-<p>Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
-See also <a class="reference internal" href="../input/profilescatalog.html#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a>.</p>
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+ <div class="section" id="vehiclecomponents">
+<span id="components-vehiclecomponents"></span><h1>VehicleComponents<a class="headerlink" href="#vehiclecomponents" title="Permalink to this headline">¶</a></h1>
+<div class="section" id="aeb">
+<span id="components-aeb"></span><h2>AEB<a class="headerlink" href="#aeb" title="Permalink to this headline">¶</a></h2>
+<p>The Autonomous Emergency Braking system checks if a collision is likely to occur in the near future and, if necessary, brakes to avoid the collision.
+In each timestep, the system evaluates all objects detected by a Sensor and calculates the time to collision (TTC) for this object based on the perceived movement of the object.
+If, for any object, the TTC is lower than the threshold of the component, then the component gets activated. The system deactivates if the TTC is larger than 1,5 times the threshold of the component.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 29%" />
+<col style="width: 5%" />
+<col style="width: 3%" />
+<col style="width: 63%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>CollisionDetectionLongitudinalBoundary</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Additional length added the vehicle boundary when checking for collision detection</p></td>
+</tr>
+<tr class="row-odd"><td><p>CollisionDetectionLateralBoundary</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Additional width added the vehicle boundary when checking for collision detection</p></td>
+</tr>
+<tr class="row-even"><td><p>TTC</p></td>
+<td><p>Double</p></td>
+<td><p>s</p></td>
+<td><p>Time to collision which is used to trigger AEB</p></td>
+</tr>
+<tr class="row-odd"><td><p>Acceleration</p></td>
+<td><p>Double</p></td>
+<td><p>m/s²</p></td>
+<td><p>Braking acceleration when activated</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"AEB"</span><span class="nt">></span>
+ <span class="nt"><Profile</span> <span class="na">Type=</span><span class="s">"AEB"</span> <span class="na">Name=</span><span class="s">"AEB1"</span><span class="nt">></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"CollisionDetectionLongitudinalBoundary"</span> <span class="na">Value=</span><span class="s">"4.0"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"CollisionDetectionLateralBoundary"</span> <span class="na">Value=</span><span class="s">"1.5"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"TTC"</span> <span class="na">Value=</span><span class="s">"2.0"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"Acceleration"</span> <span class="na">Value=</span><span class="s">"-2"</span><span class="nt">/></span>
+ <span class="nt"></Profile></span>
+ ...
+<span class="nt"></ProfileGroup></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="dynamicstrajectoryfollower">
+<span id="components-trajectoryfollower"></span><h2>DynamicsTrajectoryFollower<a class="headerlink" href="#dynamicstrajectoryfollower" title="Permalink to this headline">¶</a></h2>
+<p>This module forces agents to drive according to a specific trajectory. The trajectory is defined in the scenario. This module is disabled by default and is activated if a trajectory from openSCENARIO is triggered.
+It is always important that the trajectories matches the current scenery file, otherwise the Agent could be placed outside of valid lanes. If the agent gets placed on a invalid position, it will be deleted.</p>
+<p>All attributes are required.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 15%" />
+<col style="width: 3%" />
+<col style="width: 83%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Attribute</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>AutomaticDeactivation</p></td>
+<td><p>Bool</p></td>
+<td><p>If true, the trajectory follower relinquishes control of the vehicle after the final instruction in the TrajectoryFile.</p></td>
+</tr>
+<tr class="row-odd"><td><p>EnforceTrajectory</p></td>
+<td><p>Bool</p></td>
+<td><p>If true, the trajectory follower overrides external input related to the vehicle’s travel.</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"DynamicsTrajectoryFollower"</span><span class="nt">></span>
+ <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"BasicTrajectoryFollower"</span><span class="nt">></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"AutomaticDeactivation"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"EnforceTrajectory"</span> <span class="na">Value=</span><span class="s">"true"</span><span class="nt">/></span>
+ <span class="nt"></Profile></span>
+<span class="nt"></ProfileGroup></span>
+</pre></div>
+</div>
+</div>
+<div class="section" id="sensorgeometric2d">
+<span id="components-geometric2d"></span><h2>SensorGeometric2D<a class="headerlink" href="#sensorgeometric2d" title="Permalink to this headline">¶</a></h2>
+<p>This sensor is selected, when a sensor is parameterized as ProfileGroup “Geometric2D”.</p>
+<table class="tight-table docutils align-default">
+<colgroup>
+<col style="width: 22%" />
+<col style="width: 4%" />
+<col style="width: 3%" />
+<col style="width: 71%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Type</p></th>
+<th class="head"><p>Unit</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>DetectionRange</p></td>
+<td><p>Double</p></td>
+<td><p>m</p></td>
+<td><p>Detection range</p></td>
+</tr>
+<tr class="row-odd"><td><p>EnableVisualObstruction</p></td>
+<td><p>Bool</p></td>
+<td></td>
+<td><p>Activates 2D sensor obstruction calculation</p></td>
+</tr>
+<tr class="row-even"><td><p>FailureProbability</p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Probability of an object detection failure</p></td>
+</tr>
+<tr class="row-odd"><td><p>Latency</p></td>
+<td><p>Double</p></td>
+<td><p>s</p></td>
+<td><p>Sensor latency</p></td>
+</tr>
+<tr class="row-even"><td><p>OpeningAngleH</p></td>
+<td><p>Double</p></td>
+<td><p>rad</p></td>
+<td><p>Horizontal opening angle</p></td>
+</tr>
+<tr class="row-odd"><td><p>RequiredPercentageOfVisibleArea</p></td>
+<td><p>Double</p></td>
+<td></td>
+<td><p>Required percentage of an object within the sensor cone to trigger a detection</p></td>
+</tr>
+</tbody>
+</table>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><ProfileGroup</span> <span class="na">Type=</span><span class="s">"Geometric2D"</span><span class="nt">></span>
+ <span class="nt"><Profile</span> <span class="na">Name=</span><span class="s">"Standard"</span><span class="nt">></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"DetectionRange"</span> <span class="na">Value=</span><span class="s">"300"</span><span class="nt">/></span>
+ <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"EnableVisualObstruction"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"FailureProbability"</span> <span class="na">Value=</span><span class="s">"0"</span><span class="nt">/></span>
+ <span class="nt"><NormalDistribution</span> <span class="na">Key=</span><span class="s">"Latency"</span> <span class="na">Max=</span><span class="s">"0.0"</span> <span class="na">Mean=</span><span class="s">"0.0"</span> <span class="na">Min=</span><span class="s">"0.0"</span> <span class="na">SD=</span><span class="s">"0.0"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"OpeningAngleH"</span> <span class="na">Value=</span><span class="s">"0.35"</span><span class="nt">/></span>
+ <span class="nt"><Double</span> <span class="na">Key=</span><span class="s">"RequiredPercentageOfVisibleArea"</span> <span class="na">Value=</span><span class="s">"0.001"</span><span class="nt">/></span>
+ <span class="nt"></Profile></span>
+<span class="nt"></ProfileGroup></span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Sensors also need a mounting position, defined w.r.t. the coordinate system of the vehicle (center of rear axis).
+See also <a class="reference internal" href="../../configs/profilescatalog.html#profilescatalog-vehicleprofiles"><span class="std std-ref">VehicleProfiles</span></a>.</p>
+</div>
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- <div class="section" id="scenery">
-<span id="id1"></span><h1>Scenery<a class="headerlink" href="#scenery" title="Permalink to this headline">¶</a></h1>
-<p>This file describes the road network and all static objects of the road for the simulation run.
-It is structured according to the <strong>ASAM OpenDRIVE 1.6</strong> standard.</p>
-<p>The file name can be freely chosen, but needs to be properly referenced by the <a class="reference internal" href="scenario.html#scenario"><span class="std std-ref">Scenario</span></a> within the tag <a class="reference internal" href="scenario.html#scenario-roadnetwork"><span class="std std-ref">RoadNetwork</span></a>.</p>
-<div class="section" id="restrictions">
-<h2>Restrictions<a class="headerlink" href="#restrictions" title="Permalink to this headline">¶</a></h2>
-<p>If object definitions does not meet the openDRIVE or are not supported, the simulation is aborted.
-On top <strong>openPASS</strong> adds some additional requirements to the attributes of objects:</p>
-<ul class="simple">
-<li><p>length > 0</p></li>
-<li><p>width > 0</p></li>
-<li><p>radius == 0</p></li>
-</ul>
-<p>Objects, which do no meet these requirements are ignored.</p>
-</div>
-<div class="section" id="full-example">
-<h2>Full Example<a class="headerlink" href="#full-example" title="Permalink to this headline">¶</a></h2>
-<div class="literal-block-wrapper docutils container" id="id2">
-<div class="code-block-caption"><span class="caption-text">SceneryConfiguration.xodr</span><a class="headerlink" href="#id2" title="Permalink to this code">¶</a></div>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="lineno"> 1 </span><span class="nt"><OpenDRIVE></span>
-<span class="lineno"> 2 </span> <span class="nt"><header</span> <span class="na">revMajor=</span><span class="s">"1"</span> <span class="na">revMinor=</span><span class="s">"1"</span> <span class="na">name=</span><span class="s">"Testfile"</span> <span class="na">version=</span><span class="s">"1"</span> <span class="na">date=</span><span class="s">"Thu Feb 8 14:24:06 2007"</span> <span class="na">north=</span><span class="s">"2.0000000000000000e+003"</span> <span class="na">south=</span><span class="s">"-2.0000000000000000e+003"</span> <span class="na">east=</span><span class="s">"2.0000000000000000e+003"</span> <span class="na">west=</span><span class="s">"-2.0000000000000000e+003"</span><span class="nt">/></span>
-<span class="lineno"> 3 </span> <span class="nt"><road</span> <span class="na">name=</span><span class="s">""</span> <span class="na">length=</span><span class="s">"5139.7188686309819"</span> <span class="na">id=</span><span class="s">"1"</span> <span class="na">junction=</span><span class="s">"-1"</span><span class="nt">></span>
-<span class="lineno"> 4 </span> <span class="nt"><link/></span>
-<span class="lineno"> 5 </span> <span class="nt"><planView></span>
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-<span class="lineno"> 7 </span> <span class="nt"><line/></span>
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-<span class="lineno"> 9 </span> <span class="nt"><geometry</span> <span class="na">s=</span><span class="s">"4000"</span> <span class="na">x=</span><span class="s">"4000"</span> <span class="na">y=</span><span class="s">"7.5"</span> <span class="na">hdg=</span><span class="s">"0"</span> <span class="na">length=</span><span class="s">"285"</span><span class="nt">></span>
-<span class="lineno">10 </span> <span class="nt"><spiral</span> <span class="na">curvStart=</span><span class="s">"0.0000000000000000e+000"</span> <span class="na">curvEnd=</span><span class="s">"-0.0028500000000000066"</span><span class="nt">/></span>
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-<span class="lineno">13 </span> <span class="nt"><arc</span> <span class="na">curvature=</span><span class="s">"-0.0028500000000000066"</span><span class="nt">/></span>
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-<span class="lineno">15 </span> <span class="nt"><geometry</span> <span class="na">s=</span><span class="s">"4468.7188686309819"</span> <span class="na">x=</span><span class="s">"4422.9323279193268"</span> <span class="na">y=</span><span class="s">"-143.12204699500415"</span> <span class="na">hdg=</span><span class="s">"-0.92972377559829977"</span> <span class="na">length=</span><span class="s">"571"</span><span class="nt">></span>
-<span class="lineno">16 </span> <span class="nt"><spiral</span> <span class="na">curvStart=</span><span class="s">"-0.0028500000000000066"</span> <span class="na">curvEnd=</span><span class="s">"0.0000000000000000e+000"</span><span class="nt">/></span>
-<span class="lineno">17 </span> <span class="nt"></geometry></span>
-<span class="lineno">18 </span> <span class="nt"><geometry</span> <span class="na">s=</span><span class="s">"5039.7188686309819"</span> <span class="na">x=</span><span class="s">"4476.6651848689908"</span> <span class="na">y=</span><span class="s">"-694.88624436808436"</span> <span class="na">hdg=</span><span class="s">"-1.7453292519943295"</span> <span class="na">length=</span><span class="s">"100"</span><span class="nt">></span>
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-<span class="lineno">20 </span> <span class="nt"></geometry></span>
-<span class="lineno">21 </span> <span class="nt"></planView></span>
-<span class="lineno">22 </span> <span class="nt"><elevationProfile/></span>
-<span class="lineno">23 </span> <span class="nt"><lateralProfile/></span>
-<span class="lineno">24 </span> <span class="nt"><lanes></span>
-<span class="lineno">25 </span> <span class="nt"><laneSection</span> <span class="na">s=</span><span class="s">"0.0000000000000000e+000"</span><span class="nt">></span>
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-<span class="lineno">27 </span> <span class="nt"><center></span>
-<span class="lineno">28 </span> <span class="nt"><lane</span> <span class="na">id=</span><span class="s">"0"</span> <span class="na">type=</span><span class="s">"border"</span> <span class="na">level=</span><span class="s">"true"</span><span class="nt">></span>
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-<span class="lineno">34 </span> <span class="nt"></center></span>
-<span class="lineno">35 </span> <span class="nt"><right></span>
-<span class="lineno">36 </span> <span class="nt"><lane</span> <span class="na">id=</span><span class="s">"-1"</span> <span class="na">type=</span><span class="s">"driving"</span> <span class="na">level=</span><span class="s">"true"</span><span class="nt">></span>
-<span class="lineno">37 </span> <span class="nt"><link></span>
-<span class="lineno">38 </span> <span class="nt"><successor</span> <span class="na">id=</span><span class="s">"-1"</span><span class="nt">/></span>
-<span class="lineno">39 </span> <span class="nt"></link></span>
-<span class="lineno">40 </span> <span class="nt"><width</span> <span class="na">sOffset=</span><span class="s">"0"</span> <span class="na">a=</span><span class="s">"3.75"</span> <span class="na">b=</span><span class="s">"0"</span> <span class="na">c=</span><span class="s">"0"</span> <span class="na">d=</span><span class="s">"0"</span><span class="nt">/></span>
-<span class="lineno">41 </span> <span class="nt"><roadMark</span> <span class="na">weight=</span><span class="s">"standard"</span> <span class="na">sOffset=</span><span class="s">"0"</span> <span class="na">type=</span><span class="s">"broken"</span> <span class="na">color=</span><span class="s">"standard"</span> <span class="na">width=</span><span class="s">"0.12"</span> <span class="na">laneChange=</span><span class="s">"both"</span><span class="nt">/></span>
-<span class="lineno">42 </span> <span class="nt"></lane></span>
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-<span class="lineno">44 </span> <span class="nt"><link></span>
-<span class="lineno">45 </span> <span class="nt"><successor</span> <span class="na">id=</span><span class="s">"-2"</span><span class="nt">/></span>
-<span class="lineno">46 </span> <span class="nt"></link></span>
-<span class="lineno">47 </span> <span class="nt"><width</span> <span class="na">sOffset=</span><span class="s">"0"</span> <span class="na">a=</span><span class="s">"3.75"</span> <span class="na">b=</span><span class="s">"0"</span> <span class="na">c=</span><span class="s">"0"</span> <span class="na">d=</span><span class="s">"0"</span><span class="nt">/></span>
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-<span class="lineno">51 </span> <span class="nt"></laneSection></span>
-<span class="lineno">52 </span> <span class="nt"></lanes></span>
-<span class="lineno">53 </span> <span class="nt"><objects></span>
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-<span class="lineno">56 </span> <span class="nt"></object></span>
-<span class="lineno">57 </span> <span class="nt"><object</span> <span class="na">type=</span><span class="s">"roadMark"</span> <span class="na">name=</span><span class="s">"RoadSideMarkerPost"</span> <span class="na">id=</span><span class="s">""</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">t=</span><span class="s">"-8.5"</span> <span class="na">zOffset=</span><span class="s">"0"</span> <span class="na">validLength=</span><span class="s">"0"</span> <span class="na">orientation=</span><span class="s">"-"</span> <span class="na">length=</span><span class="s">"0.12"</span> <span class="na">width=</span><span class="s">"0.12"</span> <span class="na">height=</span><span class="s">"1.2"</span> <span class="na">hdg=</span><span class="s">"0"</span> <span class="na">pitch=</span><span class="s">"0"</span> <span class="na">roll=</span><span class="s">"0"</span><span class="nt">></span>
-<span class="lineno">58 </span> <span class="nt"><repeat</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">distance=</span><span class="s">"50"</span> <span class="na">length=</span><span class="s">"5139.7188686309819"</span><span class="nt">/></span>
-<span class="lineno">59 </span> <span class="nt"></object></span>
-<span class="lineno">60 </span> <span class="nt"><object</span> <span class="na">type=</span><span class="s">"railing"</span> <span class="na">name=</span><span class="s">"GuardRail"</span> <span class="na">id=</span><span class="s">""</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">t=</span><span class="s">"0.5"</span> <span class="na">zOffset=</span><span class="s">"0"</span> <span class="na">validLength=</span><span class="s">"0"</span> <span class="na">orientation=</span><span class="s">"+"</span> <span class="na">length=</span><span class="s">"3.0"</span> <span class="na">width=</span><span class="s">"0.25"</span> <span class="na">height=</span><span class="s">"0.9"</span> <span class="na">hdg=</span><span class="s">"0"</span> <span class="na">pitch=</span><span class="s">"0"</span> <span class="na">roll=</span><span class="s">"0"</span><span class="nt">></span>
-<span class="lineno">61 </span> <span class="nt"><repeat</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">distance=</span><span class="s">"0"</span> <span class="na">length=</span><span class="s">"5139.7188686309819"</span><span class="nt">/></span>
-<span class="lineno">62 </span> <span class="nt"></object></span>
-<span class="lineno">63 </span> <span class="nt"><object</span> <span class="na">type=</span><span class="s">"railing"</span> <span class="na">name=</span><span class="s">"GuardRail"</span> <span class="na">id=</span><span class="s">""</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">t=</span><span class="s">"-8"</span> <span class="na">zOffset=</span><span class="s">"0"</span> <span class="na">validLength=</span><span class="s">"0"</span> <span class="na">orientation=</span><span class="s">"-"</span> <span class="na">length=</span><span class="s">"3.0"</span> <span class="na">width=</span><span class="s">"0.25"</span> <span class="na">height=</span><span class="s">"0.9"</span> <span class="na">hdg=</span><span class="s">"0"</span> <span class="na">pitch=</span><span class="s">"0"</span> <span class="na">roll=</span><span class="s">"0"</span><span class="nt">></span>
-<span class="lineno">64 </span> <span class="nt"><repeat</span> <span class="na">s=</span><span class="s">"0"</span> <span class="na">distance=</span><span class="s">"0"</span> <span class="na">length=</span><span class="s">"5139.7188686309819"</span><span class="nt">/></span>
-<span class="lineno">65 </span> <span class="nt"></object></span>
-<span class="lineno">66 </span> <span class="nt"></objects></span>
-<span class="lineno">67 </span> <span class="nt"><signals/></span>
-<span class="lineno">68 </span> <span class="nt"></road></span>
-<span class="lineno">69 </span><span class="nt"></OpenDRIVE></span>
-</pre></div>
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- <div class="section" id="slaveconfig">
-<span id="id1"></span><h1>SlaveConfig<a class="headerlink" href="#slaveconfig" title="Permalink to this headline">¶</a></h1>
-<p>This file describes the user configurable parameters of an experiment.
-Several parameters depend on probabilities.
-Each invocation then rolls for said probabilities.
-All probabilities need to add up to 1.0.</p>
-<p>The slaveConfig.xml consists of the following sections:</p>
-<ul class="simple">
-<li><p><a class="reference internal" href="#slaveconfig-profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a></p></li>
-<li><p><a class="reference internal" href="#slaveconfig-experiment"><span class="std std-ref">Experiment</span></a></p></li>
-<li><p><a class="reference internal" href="#slaveconfig-scenario"><span class="std std-ref">Scenario</span></a></p></li>
-<li><p><a class="reference internal" href="#slaveconfig-environment"><span class="std std-ref">Environment</span></a></p></li>
-<li><p><a class="reference internal" href="#slaveconfig-observations"><span class="std std-ref">Observations</span></a></p></li>
-<li><p><a class="reference internal" href="#slaveconfig-spawners"><span class="std std-ref">Spawners</span></a></p></li>
-</ul>
-<div class="section" id="profilescatalog">
-<span id="slaveconfig-profilescatalog"></span><h2>ProfilesCatalog<a class="headerlink" href="#profilescatalog" title="Permalink to this headline">¶</a></h2>
-<p>Specifies the <a class="reference internal" href="profilescatalog.html#profilescatalog"><span class="std std-ref">ProfilesCatalog</span></a> for the experiment.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><ProfilesCatalog></span>ProfilesCatalog.xml<span class="nt"></ProfilesCatalog></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="experiment">
-<span id="slaveconfig-experiment"></span><h2>Experiment<a class="headerlink" href="#experiment" title="Permalink to this headline">¶</a></h2>
-<p>Specifies the general experiment setup, not specific to a single invocation.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 26%" />
-<col style="width: 63%" />
-<col style="width: 11%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Mandatory</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>ExperimentId</p></td>
-<td><p>Id of the experiment</p></td>
-<td><p>yes</p></td>
-</tr>
-<tr class="row-odd"><td><p>NumberOfInvocations</p></td>
-<td><p>Number of invocation in the experiment.
-For each invocation probabilities are rerolled.</p></td>
-<td><p>yes</p></td>
-</tr>
-<tr class="row-even"><td><p>RandomSeed</p></td>
-<td><p>Random seed for the entire experiment.
-Must be within the bounds of an unsigned integer.</p></td>
-<td><p>yes</p></td>
-</tr>
-<tr class="row-odd"><td><p>Libraries</p></td>
-<td><p>Name of the core module Libraries to use.
-If not specified the default name is assumed.</p></td>
-<td><p>yes</p></td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Experiment></span>
- <span class="nt"><ExperimentID></span>123<span class="nt"></ExperimentID></span>
- <span class="nt"><NumberOfInvocations></span>1<span class="nt"></NumberOfInvocations></span>
- <span class="nt"><RandomSeed></span>532725206<span class="nt"></RandomSeed></span>
- <span class="nt"><Libraries></span>
- <span class="nt"><WorldLibrary></span>World_OSI<span class="nt"></WorldLibrary></span>
- <span class="nt"></Libraries></span>
- <span class="nt"></Experiment></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="scenario">
-<span id="slaveconfig-scenario"></span><h2>Scenario<a class="headerlink" href="#scenario" title="Permalink to this headline">¶</a></h2>
-<p>This section contains information about the scenario setup for the experiment. This information does not change between invocations.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 32%" />
-<col style="width: 50%" />
-<col style="width: 18%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Mandatory</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>OpenScenarioFile</p></td>
-<td><p>Name of the scenario file</p></td>
-<td><p>yes</p></td>
-</tr>
-</tbody>
-</table>
-<p><strong>Example</strong></p>
-<p>This experiment uses the “HighwayScenario.xosc” scenario file.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Scenario></span>
- <span class="nt"><OpenScenarioFile></span>Scenario.xosc<span class="nt"></OpenScenarioFile></span>
- <span class="nt"></Scenario></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="environment">
-<span id="slaveconfig-environment"></span><h2>Environment<a class="headerlink" href="#environment" title="Permalink to this headline">¶</a></h2>
-<p>This section contains information about the world and the general environment inside the simulation. Every invocation re-rolls the environment probabilities.
-All probabilities need to add up to 1.0.</p>
-<table class="tight-table docutils align-default">
-<colgroup>
-<col style="width: 16%" />
-<col style="width: 77%" />
-<col style="width: 7%" />
-</colgroup>
-<thead>
-<tr class="row-odd"><th class="head"><p>Tag</p></th>
-<th class="head"><p>Description</p></th>
-<th class="head"><p>Mandatory</p></th>
-</tr>
-</thead>
-<tbody>
-<tr class="row-even"><td><p>TimeOfDay</p></td>
-<td><p><strong>Currently unused.</strong> Time of day ranging from 1-24 [h].</p></td>
-<td><p>1+ entry</p></td>
-</tr>
-<tr class="row-odd"><td><p>VisibilityDistance</p></td>
-<td><p>Defines how far a human driver can see [m].</p></td>
-<td><p>1+ entry</p></td>
-</tr>
-<tr class="row-even"><td><p>Friction</p></td>
-<td><p>Friction on the road. Used by DynamicsRegularDriving and LimiterAccelerationVehicleComponents.</p></td>
-<td><p>1+ entry</p></td>
-</tr>
-<tr class="row-odd"><td><p>Weather</p></td>
-<td><p><strong>Currently unused.</strong> Weather as string</p></td>
-<td><p>1+ entry</p></td>
-</tr>
-</tbody>
-</table>
-<p><strong>Example</strong></p>
-<p>Every invocation has the time set to 15:00.
-In 70% of all invocation drivers can see 125 meter and for the other 30% of invocations the drivers can see 250 meter.
-Every invocation has a friction of 0.3.
-Every invocation has sunny weather.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Environment></span>
- <span class="nt"><TimeOfDays></span>
- <span class="nt"><TimeOfDay</span> <span class="na">Probability=</span><span class="s">"0.4"</span> <span class="na">Value=</span><span class="s">"15"</span><span class="nt">/></span>
- <span class="nt"><TimeOfDay</span> <span class="na">Probability=</span><span class="s">"0.6"</span> <span class="na">Value=</span><span class="s">"18"</span><span class="nt">/></span>
- <span class="nt"></TimeOfDays></span>
- <span class="nt"><VisibilityDistances></span>
- <span class="nt"><VisibilityDistance</span> <span class="na">Probability=</span><span class="s">"0.7"</span> <span class="na">Value=</span><span class="s">"300"</span><span class="nt">/></span>
- <span class="nt"><VisibilityDistance</span> <span class="na">Probability=</span><span class="s">"0.3"</span> <span class="na">Value=</span><span class="s">"400"</span><span class="nt">/></span>
- <span class="nt"></VisibilityDistances></span>
- <span class="nt"><Frictions></span>
- <span class="nt"><Friction</span> <span class="na">Probability=</span><span class="s">"1.0"</span> <span class="na">Value=</span><span class="s">"1.0"</span><span class="nt">/></span>
- <span class="nt"></Frictions></span>
- <span class="nt"><Weathers></span>
- <span class="nt"><Weather</span> <span class="na">Probability=</span><span class="s">"0.5"</span> <span class="na">Value=</span><span class="s">"Rainy"</span><span class="nt">/></span>
- <span class="nt"><Weather</span> <span class="na">Probability=</span><span class="s">"0.5"</span> <span class="na">Value=</span><span class="s">"Snowy"</span><span class="nt">/></span>
- <span class="nt"></Weathers></span>
- <span class="nt"></Environment></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="observations">
-<span id="slaveconfig-observations"></span><h2>Observations<a class="headerlink" href="#observations" title="Permalink to this headline">¶</a></h2>
-<p>In this section all observation libraries are defined with their parameters.
-A specific library is loaded by adding an entry to the <cite>Observations</cite> tag:</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Observations></span>
- <span class="c"><!-- first observer --></span>
- <span class="nt"><Observation></span>
- <span class="nt"><Library></span>THE_OBSERVATION_LIBRARY<span class="nt"></Library></span>
- <span class="c"><!-- observer specific parameter --></span>
- <span class="nt"><Parameters></span>
- <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"THE_KEY"</span> <span class="na">Value=</span><span class="s">"THE_VALUE"</span><span class="nt">/></span>
- <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"ANOTHER_KEY"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
- ...
- <span class="nt"></Parameters></span>
- <span class="nt"></Observation></span>
- <span class="c"><!-- second observer --></span>
- <span class="nt"><Observation></span>
- ...
- <span class="nt"></Observation></span>
-<span class="nt"></Observations></span>
-</pre></div>
-</div>
-<p>Here, the <code class="docutils literal notranslate"><span class="pre">Library</span></code> tag contains the name of the library, and <code class="docutils literal notranslate"><span class="pre">Parameters</span></code> contain an optional list of key/value pairs, specific for each observer.</p>
-<p>Please refer to the documentation of the individual observers for available parameters:</p>
-<div class="toctree-wrapper compound">
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="../output/observation_log.html">Observation_Log</a></li>
-<li class="toctree-l1"><a class="reference internal" href="../output/observation_repository.html">Observation_EntityRepository</a></li>
-</ul>
-</div>
-</div>
-<div class="section" id="spawners">
-<span id="slaveconfig-spawners"></span><h2>Spawners<a class="headerlink" href="#spawners" title="Permalink to this headline">¶</a></h2>
-<p>In this section the spawners are defined with their Profile (defined in the ProfilesCatalog).
-The same library can be loaded multiple times with different profiles.
-A spawner is either of type “PreRun”, meaning it is triggered only once at the start of the simulation, or “Runtime”, meaning it is triggered in every timestep.
-If different spawners are to be triggered at the same time the spawner with the highest priority is triggered first.</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Spawners></span>
- <span class="nt"><Spawner></span>
- <span class="nt"><Library></span>SpawnPointScenario<span class="nt"></Library></span>
- <span class="nt"><Type></span>PreRun<span class="nt"></Type></span>
- <span class="nt"><Priority></span>1<span class="nt"></Priority></span>
- <span class="nt"></Spawner></span>
- <span class="nt"><Spawner></span>
- <span class="nt"><Library></span>SpawnPointPreRunCommon<span class="nt"></Library></span>
- <span class="nt"><Type></span>PreRun<span class="nt"></Type></span>
- <span class="nt"><Priority></span>0<span class="nt"></Priority></span>
- <span class="nt"><Profile></span>DefaultPreRunCommon<span class="nt"></Profile></span>
- <span class="nt"></Spawner></span>
- <span class="nt"><Spawner></span>
- <span class="nt"><Library></span>SpawnPointRuntimeCommon<span class="nt"></Library></span>
- <span class="nt"><Type></span>Runtime<span class="nt"></Type></span>
- <span class="nt"><Priority></span>0<span class="nt"></Priority></span>
- <span class="nt"><Profile></span>DefaultRuntimeCommon<span class="nt"></Profile></span>
- <span class="nt"></Spawner></span>
- <span class="nt"></Spawners></span>
-</pre></div>
-</div>
-</div>
-<div class="section" id="full-example">
-<h2>Full Example<a class="headerlink" href="#full-example" title="Permalink to this headline">¶</a></h2>
-<div class="literal-block-wrapper docutils container" id="id2">
-<div class="code-block-caption"><span class="caption-text">slaveConfig.xodr</span><a class="headerlink" href="#id2" title="Permalink to this code">¶</a></div>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="lineno"> 1 </span><span class="nt"><slaveConfig</span> <span class="na">SchemaVersion=</span><span class="s">"0.8.1"</span><span class="nt">></span>
-<span class="lineno"> 2 </span> <span class="nt"><ProfilesCatalog></span>ProfilesCatalog.xml<span class="nt"></ProfilesCatalog></span>
-<span class="lineno"> 3 </span> <span class="nt"><Experiment></span>
-<span class="lineno"> 4 </span> <span class="nt"><ExperimentID></span>123<span class="nt"></ExperimentID></span>
-<span class="lineno"> 5 </span> <span class="nt"><NumberOfInvocations></span>1<span class="nt"></NumberOfInvocations></span>
-<span class="lineno"> 6 </span> <span class="nt"><RandomSeed></span>532725206<span class="nt"></RandomSeed></span>
-<span class="lineno"> 7 </span> <span class="nt"><Libraries></span>
-<span class="lineno"> 8 </span> <span class="nt"><WorldLibrary></span>World_OSI<span class="nt"></WorldLibrary></span>
-<span class="lineno"> 9 </span> <span class="nt"></Libraries></span>
-<span class="lineno">10 </span> <span class="nt"></Experiment></span>
-<span class="lineno">11 </span> <span class="nt"><Scenario></span>
-<span class="lineno">12 </span> <span class="nt"><OpenScenarioFile></span>Scenario.xosc<span class="nt"></OpenScenarioFile></span>
-<span class="lineno">13 </span> <span class="nt"></Scenario></span>
-<span class="lineno">14 </span> <span class="nt"><Environment></span>
-<span class="lineno">15 </span> <span class="nt"><TimeOfDays></span>
-<span class="lineno">16 </span> <span class="nt"><TimeOfDay</span> <span class="na">Probability=</span><span class="s">"0.4"</span> <span class="na">Value=</span><span class="s">"15"</span><span class="nt">/></span>
-<span class="lineno">17 </span> <span class="nt"><TimeOfDay</span> <span class="na">Probability=</span><span class="s">"0.6"</span> <span class="na">Value=</span><span class="s">"18"</span><span class="nt">/></span>
-<span class="lineno">18 </span> <span class="nt"></TimeOfDays></span>
-<span class="lineno">19 </span> <span class="nt"><VisibilityDistances></span>
-<span class="lineno">20 </span> <span class="nt"><VisibilityDistance</span> <span class="na">Probability=</span><span class="s">"0.7"</span> <span class="na">Value=</span><span class="s">"300"</span><span class="nt">/></span>
-<span class="lineno">21 </span> <span class="nt"><VisibilityDistance</span> <span class="na">Probability=</span><span class="s">"0.3"</span> <span class="na">Value=</span><span class="s">"400"</span><span class="nt">/></span>
-<span class="lineno">22 </span> <span class="nt"></VisibilityDistances></span>
-<span class="lineno">23 </span> <span class="nt"><Frictions></span>
-<span class="lineno">24 </span> <span class="nt"><Friction</span> <span class="na">Probability=</span><span class="s">"1.0"</span> <span class="na">Value=</span><span class="s">"1.0"</span><span class="nt">/></span>
-<span class="lineno">25 </span> <span class="nt"></Frictions></span>
-<span class="lineno">26 </span> <span class="nt"><Weathers></span>
-<span class="lineno">27 </span> <span class="nt"><Weather</span> <span class="na">Probability=</span><span class="s">"0.5"</span> <span class="na">Value=</span><span class="s">"Rainy"</span><span class="nt">/></span>
-<span class="lineno">28 </span> <span class="nt"><Weather</span> <span class="na">Probability=</span><span class="s">"0.5"</span> <span class="na">Value=</span><span class="s">"Snowy"</span><span class="nt">/></span>
-<span class="lineno">29 </span> <span class="nt"></Weathers></span>
-<span class="lineno">30 </span> <span class="nt"></Environment></span>
-<span class="lineno">31 </span> <span class="nt"><Observations></span>
-<span class="lineno">32 </span> <span class="nt"><Observation></span>
-<span class="lineno">33 </span> <span class="nt"><Library></span>Observation_Log<span class="nt"></Library></span>
-<span class="lineno">34 </span> <span class="nt"><Parameters></span>
-<span class="lineno">35 </span> <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"OutputFilename"</span> <span class="na">Value=</span><span class="s">"simulationOutput.xml"</span><span class="nt">/></span>
-<span class="lineno">36 </span> <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"LoggingCyclicsToCsv"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span>
-<span class="lineno">37 </span> <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Trace"</span> <span class="na">Value=</span><span class="s">"XPosition,YPosition,YawAngle"</span><span class="nt">/></span>
-<span class="lineno">38 </span> <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_RoadPosition"</span> <span class="na">Value=</span><span class="s">"AgentInFront,Lane,PositionRoute,Road,TCoordinate"</span><span class="nt">/></span>
-<span class="lineno">39 </span> <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_RoadPositionExtended"</span> <span class="na">Value=</span><span class="s">"SecondaryLanes"</span><span class="nt">/></span>
-<span class="lineno">40 </span> <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Sensor"</span> <span class="na">Value=</span><span class="s">"Sensor*_DetectedAgents,Sensor*_VisibleAgents"</span><span class="nt">/></span>
-<span class="lineno">41 </span> <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Vehicle"</span> <span class="na">Value=</span><span class="s">"AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate"</span><span class="nt">/></span>
-<span class="lineno">42 </span> <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Visualization"</span> <span class="na">Value=</span><span class="s">"AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"</span><span class="nt">/></span>
-<span class="lineno">43 </span> <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroups"</span> <span class="na">Value=</span><span class="s">"Trace,Visualization,RoadPosition,Sensor"</span><span class="nt">/></span>
-<span class="lineno">44 </span> <span class="nt"></Parameters></span>
-<span class="lineno">45 </span> <span class="nt"></Observation></span>
-<span class="lineno">46 </span> <span class="nt"><Observation></span>
-<span class="lineno">47 </span> <span class="nt"><Library></span>Observation_EntityRepository<span class="nt"></Library></span>
-<span class="lineno">48 </span> <span class="nt"><Parameters></span>
-<span class="lineno">49 </span> <span class="c"><!-- If "FilenamePrefix" is skipped, defaults to Value="Repository" --></span>
-<span class="lineno">50 </span> <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"FilenamePrefix"</span> <span class="na">Value=</span><span class="s">"Repository"</span><span class="nt">/></span>
-<span class="lineno">51 </span> <span class="c"><!-- If "WritePersistentEntities" is skipped, defaults to Value="Consolidated"</span>
-<span class="lineno">52 </span><span class="c"> Options: </span>
-<span class="lineno">53 </span><span class="c"> - Consolidated: Concatenate with {FilenamePrefix}_Run_###.csv for each run</span>
-<span class="lineno">54 </span><span class="c"> - Separate: Write to {FilenamePrefix}_Persistent.csv</span>
-<span class="lineno">55 </span><span class="c"> - Skip: No output for persistent entities</span>
-<span class="lineno">56 </span><span class="c"> --></span>
-<span class="lineno">57 </span> <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"WritePersistentEntities"</span> <span class="na">Value=</span><span class="s">"Consolidated"</span><span class="nt">/></span>
-<span class="lineno">58 </span> <span class="nt"></Parameters></span>
-<span class="lineno">59 </span> <span class="nt"></Observation></span>
-<span class="lineno">60 </span> <span class="nt"></Observations></span>
-<span class="lineno">61 </span> <span class="nt"><Spawners></span>
-<span class="lineno">62 </span> <span class="nt"><Spawner></span>
-<span class="lineno">63 </span> <span class="nt"><Library></span>SpawnPointScenario<span class="nt"></Library></span>
-<span class="lineno">64 </span> <span class="nt"><Type></span>PreRun<span class="nt"></Type></span>
-<span class="lineno">65 </span> <span class="nt"><Priority></span>1<span class="nt"></Priority></span>
-<span class="lineno">66 </span> <span class="nt"></Spawner></span>
-<span class="lineno">67 </span> <span class="nt"><Spawner></span>
-<span class="lineno">68 </span> <span class="nt"><Library></span>SpawnPointPreRunCommon<span class="nt"></Library></span>
-<span class="lineno">69 </span> <span class="nt"><Type></span>PreRun<span class="nt"></Type></span>
-<span class="lineno">70 </span> <span class="nt"><Priority></span>0<span class="nt"></Priority></span>
-<span class="lineno">71 </span> <span class="nt"><Profile></span>DefaultPreRunCommon<span class="nt"></Profile></span>
-<span class="lineno">72 </span> <span class="nt"></Spawner></span>
-<span class="lineno">73 </span> <span class="nt"><Spawner></span>
-<span class="lineno">74 </span> <span class="nt"><Library></span>SpawnPointRuntimeCommon<span class="nt"></Library></span>
-<span class="lineno">75 </span> <span class="nt"><Type></span>Runtime<span class="nt"></Type></span>
-<span class="lineno">76 </span> <span class="nt"><Priority></span>0<span class="nt"></Priority></span>
-<span class="lineno">77 </span> <span class="nt"><Profile></span>DefaultRuntimeCommon<span class="nt"></Profile></span>
-<span class="lineno">78 </span> <span class="nt"></Spawner></span>
-<span class="lineno">79 </span> <span class="nt"></Spawners></span>
-<span class="lineno">80 </span><span class="nt"></slaveConfig></span>
-</pre></div>
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-<span id="staticsystemconfig"></span><h1>Static SystemConfig<a class="headerlink" href="#static-systemconfig" title="Permalink to this headline">¶</a></h1>
-<p>SystemConfig files are optional.
-They describe static configurations of agents and are therefore an alternative to the dynamic sampling of an agent during runtime.
-The schema is the same as for the <a class="reference internal" href="systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a>.</p>
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+ <div class="section" id="scenario-based-simulation">
+<h1>Scenario-based simulation<a class="headerlink" href="#scenario-based-simulation" title="Permalink to this headline">¶</a></h1>
+<p>This guide describes how to execute an exemplary simulation with openPASS.</p>
+<p>The simulation runs a scenario which is set up for triggering an AEB system.
+The scenario contains two agents: The ego agent and a scenario agent.
+The ego vehicle is equipped with an AEB system (the system under test).
+The scenario agent performs a cut-in and triggers as a result the AEB system of the ego agent.
+To force this exact maneuver, the scenario agent is set up to follow a predefined trajectory.</p>
+<p>The GUI is not yet capable of configuring and executing a scenario based simulation as this is currently work in progress.
+Thus, an existing simulation configuration is used and the simulation is started manually.</p>
+<p><strong>Step-by-step instructions</strong></p>
+<ol class="arabic">
+<li><p>Navigate into <strong>openPASS</strong> install directory (e.g. <code class="docutils literal notranslate"><span class="pre">C:\OpenPASS</span></code>)</p></li>
+<li><p>Install directory should look like the following</p>
+<blockquote>
+<div><div class="highlight-default notranslate"><div class="highlight"><pre><span></span>OpenPASS-Install-Dir
+├── bin
+└── configs <-- this directory will be created in the next step
+└── examples
+│ ├── Configurations
+│ └── DefaultConfigurations
+└── doc
+└── examples
+└── lib
+│ ...
+└── opSimulation.exe
+</pre></div>
+</div>
+</div></blockquote>
+</li>
+<li><p>Create a new folder named “configs” for the configuration files within the <strong>openPASS</strong> install directory</p></li>
+<li><p>Copy configuration files</p>
+<blockquote>
+<div><p>Simulations for <strong>openPASS</strong> are fully configured through configuration files.
+Examples for <strong>openPASS</strong> configuration files are located in the directory <code class="docutils literal notranslate"><span class="pre">examples</span></code> and are divided into two groups: <em>Default configurations</em> and <em>specific configurations</em>.</p>
+<ol class="loweralpha">
+<li><p>The <em>default configuration</em> files located under <code class="docutils literal notranslate"><span class="pre">examples/DefaultConfigurations</span></code> contain the basis for any simulation.</p>
+<blockquote>
+<div><ol class="lowerroman simple">
+<li><p>Copy all files from the directory <code class="docutils literal notranslate"><span class="pre">examples/DefaultConfigurations</span></code> to the previously created folder <code class="docutils literal notranslate"><span class="pre">configs</span></code>.</p></li>
+</ol>
+</div></blockquote>
+</li>
+<li><p>The <em>specific configuration</em> files located under <code class="docutils literal notranslate"><span class="pre">examples/Configurations</span></code> complement the default configuration files. Examples are provided for different simulations.</p>
+<blockquote>
+<div><ol class="lowerroman simple">
+<li><p>Ensure all files from directory <code class="docutils literal notranslate"><span class="pre">examples/DefaultConfigurations</span></code> have been copied to <code class="docutils literal notranslate"><span class="pre">configs</span></code> (this has been done in the previous step). Repeat this step every time another simulation is chosen.</p></li>
+<li><p>Navigate to the directory <code class="docutils literal notranslate"><span class="pre">examples/Configurations</span></code>. Here, all folders contain special pre-configured simulations (which either can be used as demo cases or as end-to-end test cases primarily used for development).</p></li>
+<li><p>Copy all files from the directory specifying the specific scenario you want to simulate (in our case all files from directory <code class="docutils literal notranslate"><span class="pre">examples/Configurations/AEB</span></code>) to the directory <code class="docutils literal notranslate"><span class="pre">configs</span></code>. Overwrite existing files when prompted.</p></li>
+</ol>
+</div></blockquote>
+</li>
+</ol>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>A detailed description of the various configuration files can be found under see <a class="reference internal" href="../40_configs_in_depth.html#configs-in-depth"><span class="std std-ref">Configs in Depth</span></a>.</p>
+</div>
+</div></blockquote>
+</li>
+<li><p>Learn how to modify configuration files</p>
+<blockquote>
+<div><p>If one wants to edit the configurations (e.g. experiment set-up or parameters of specific scenario) placed under <code class="docutils literal notranslate"><span class="pre">configs</span></code>, one can do so by changing any of the following files:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>configs
+├── PedestrianModelsCatalog.xosc
+├── ProfilesCatalog.xml
+├── Scenario.xosc
+├── SceneryConfiguration.xodr
+├── simulationConfig.xml
+├── systemConfigBlueprint.xml
+└── VehicleModelsCatalog.xosc
+</pre></div>
+</div>
+</div></blockquote>
+<p>As an example, modifications of the configuration files that describe the AEB scenario are given.
+The following list describes some relevant adjustments that may be useful.</p>
+<blockquote>
+<div><ol class="loweralpha">
+<li><p><code class="docutils literal notranslate"><span class="pre">ProfilesCatalog.xml</span></code>:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>The AEB system and sensor parameters, e.g. „TTC“, „DetectionRange“, can be adjusted.</p></li>
+<li><p>The spawner parameters, such as the traffic volume or the velocity of the surrounding traffic, can be modified in the existing spawner profiles.</p></li>
+</ul>
+</div></blockquote>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Scenario.xosc</span></code>:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>The scenario set-up contains the initial positions und velocities of the ego and scenario agent.</p></li>
+<li><p>The trajectory that defines the cut-in maneuver of the scenario agent is defined and editable here.</p></li>
+<li><p>The overall simulation time, which determines the end condition of the simulation in seconds, can be adjusted.</p></li>
+</ul>
+</div></blockquote>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">simulationConfig.xml</span></code>:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>The number of invocations can be changed in case more than one run is desired to be simulated. This will incorporate stochastic variation (i.e. initial constellation of surrounding traffic)</p></li>
+<li><p>If surrounding traffic is not desired in the experiment, the spawner libraries “SpawnPointPreRunCommon” and “SpawnPointRuntimeCommon” can be deactivated by removing the corresponding sections. Only the “SpawnPointScenario” is mandatory to spawn the ego and scenario agent. More information on the functionality of spawners can be found in <a class="reference internal" href="../sim_user_guide/components/spawner.html#components-spawner"><span class="std std-ref">Spawner</span></a>.</p></li>
+<li><p>The output format can be modified by setting the parameter “LoggingCyclicsToCsv” to true.</p></li>
+</ul>
+</div></blockquote>
+</li>
+</ol>
+</div></blockquote>
+</li>
+<li><p>Start the simulation by double-clicking <code class="docutils literal notranslate"><span class="pre">opSimulation.exe</span></code> or from the console by calling the executable.</p></li>
+<li><p>Once the simulation is successfully completed, the following results can be found in the directory <code class="docutils literal notranslate"><span class="pre">results</span></code>:</p>
+<blockquote>
+<div><ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>: Contains general information about the experiment and an overview on all agents from the simulation. Further, an event log is contained. If the csv-output is set to false in the <code class="docutils literal notranslate"><span class="pre">simulationConfig.xml</span></code>, the <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code> will also include the „cyclics” (state in each time step) of the simulation.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Cyclics_Run_xxx.csv</span></code>: In case the csv-output is activated, the „cyclics” of each run in the simulation are logged to a separated csv-file. This file is missing, if “cyclics” are written directly to the <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code> (i.e. when “LoggingCyclicsToCsv” is set to false).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Repository_Run_xxx.csv</span></code>: Overview of the agents and objects from the simulation as well as some details on scenery components like lane markings, guard rails, etc.</p></li>
+</ul>
+</div></blockquote>
+</li>
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+ <div class="section" id="pcm-simulation">
+<span id="pcm-simulation-guide"></span><h1>PCM Simulation<a class="headerlink" href="#pcm-simulation" title="Permalink to this headline">¶</a></h1>
+<div class="admonition-todo admonition" id="id1">
+<p class="admonition-title">Todo</p>
+<p>Write tutorial for PCM simulation</p>
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