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We only allow for obstacle IDs up to 256 due to the message types in use (uint8_t for ID) (TODO?), thus the ID is taken mod 256 if it is higher than that - we do not expect that you need to use more than 256 obstacles within one scenario (this might also have bad consequences for the performance of a simulation). |
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Commonroad defines DynamicObstacle, StaticObstacle and EnvironmentObstacle as different obstacle classes. We only allow for trajectory simulation for the first two, as environment obstacles should not be on the lanelet (and don't move as well). Static obstacles may include static vehicles, so we decided to allow trajectory simulation for them, although they also never move (as their name already implies). |
Goal Information
Additional information about the goal states are shown at the bottom of the Commonroad-Tab.
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