10.2 Entities

In the Entities section, we define the traffic participants used in the scenario: one or more instances of Vehicle, Pedestrian, MiscObject, or ExternalObjectReference.

  <Entities>
    <ScenarioObject name="Vehicle 1">
      <Vehicle name="Vehicle 1" vehicleCategory="car">
        <ParameterDeclarations/>
        <BoundingBox>
          <Center x="1.3" y="0.0" z="0.75"/>
          <Dimensions width="1.8" length="4.5" height="1.5"/>
        </BoundingBox>
        <Performance maxSpeed="200.0" maxDeceleration="30.0" maxAcceleration="200.0"/>
        <Axles>
          <FrontAxle positionZ="0.4" trackWidth="1.68" positionX="2.98" maxSteering="0.5235987756" wheelDiameter="0.8"/>
          <RearAxle positionZ="0.4" trackWidth="1.68" positionX="0.0" maxSteering="0.5235987756" wheelDiameter="0.8"/>
        </Axles>
      </Vehicle>
      <ObjectController/>
    </ScenarioObject>

    <ScenarioObject name="Vehicle 2">
      <Vehicle name="Vehicle 2" vehicleCategory="car">
        <ParameterDeclarations/>
        <BoundingBox>
          <Center x="1.4" y="0.0" z="0.9"/>
          <Dimensions width="2.0" length="5.0" height="1.8"/>
        </BoundingBox>
        <Performance maxSpeed="200.0" maxDeceleration="30.0" maxAcceleration="200.0"/>
        <Axles>
          <FrontAxle positionZ="0.4" trackWidth="1.68" positionX="2.98" maxSteering="0.5235987756" wheelDiameter="0.8"/>
          <RearAxle positionZ="0.4" trackWidth="1.68" positionX="0.0" maxSteering="0.5235987756" wheelDiameter="0.8"/>
        </Axles>
      </Vehicle>
      <ObjectController/>
    </ScenarioObject>
  </Entities>

To state you want to use an entity from the catalog, use the following syntax:

<ScenarioObject name="Entity name in scenario">
  <CatalogReference catalogName="VehicleCatalog" entryName="Entity name in catalog"/>
</ScenarioObject>

In this scenario, we are not using catalogs. Instead, both entities are defined directly. It should be noticed that the entities do not have an initial position and initial speed yet. These are added in the following sections.