This PR resolves #112 by adding partial support for Path Vehicles.
By "partial support" I mean everything in the official geoscenario spec is implemented except for:
agentacceleration and timetoacceleration tags for path nodes.
cycles and usespeedprofile tags for vehicles. I don't think the existing TV implementation supported these vehicle tags either.
This PR contains the following changes:
Add a new PV class of type Vehicle
Update the Actor class to include a new follow_path function similar to the existing follow_trajectory function
The new follow_path function uses the frenet distance s to travel along the defined path, which also allows the PV to provide some data in frenet frame as well
Updates the dashboard to be able to display frenet frame information without the rest of the debug data
Adds a brief scenario for testing PVs
Cleans up some broken btree references and deletes some old duplicated btrees
This PR resolves #112 by adding partial support for Path Vehicles. By "partial support" I mean everything in the official geoscenario spec is implemented except for:
agentaccelerationandtimetoaccelerationtags for path nodes.cyclesandusespeedprofiletags for vehicles. I don't think the existing TV implementation supported these vehicle tags either.This PR contains the following changes:
PVclass of typeVehicleActorclass to include a newfollow_pathfunction similar to the existingfollow_trajectoryfunctionsto travel along the defined path, which also allows the PV to provide some data in frenet frame as well