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It contains three different model of operating the vehicles: direct, speed-curvature and trajectory mode. In direct mode, speed and curvature are given as values between -1 and 1, refering to minimum and maximum, respectively. The speed-curvature mode handles speed and curvature values as m/s and 1/m. In trajectory mode, different poses are referenced to timesteps. In this case, the vehicles use on-board controllers to drive the given trajectory.

What the HLC scripts need to include

• Send a ReadySignal message after initialization - only the ID string matters, which must be of the form "hlc_" + vehicle_id, where the latter is the ID of the vehicle the HLC is responsible for
• Receive VehicleStateList messages, which include the current states and observations of the vehicle as well as the current time - this signal is supposed to be the start signal for the HLC, so computation should start using this data after the message was received. Make sure to ignore signals received during computation, if that takes longer than a single period
• Send vehicle command messages as a result of the communication including the vehicle ID to the Middleware, which propagates these to the vehicle
• React to stop signals sent by the LCC and propagated to the HLC by the Middleware

TODO: Mention IDL type / what it does / what the middleware expects, refer to Matlab tutorial

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