[Feature request] Conditional vehicle takeover

[Gamenot]

Motivation

We need a way to express conditions under SMARTS systems should change the controlling owner of a vehicle

Cases:

• After another vehicle shows up in the simulation
• Vehicle is on-road.
• If the vehicle is a particular type.
• When vehicle is released by another agent.
• Delay # seconds.

This is a companion to #2001

Proposal

The first step to solving these problems is to provide an interface for conditions that allows for combining them. The conditions should purely declare if a condition is met and nothing else.

Alternatives

No response

Additional context

Issue #1965 is the first attempt at this.

[qianyi-sun]

another case could be "if the vehicle has a particular id", to exclude the leader in following scenarios as well