From e70480c6642d16a35a6511946574fa7bbed3b9b3 Mon Sep 17 00:00:00 2001
From: "Pasch, Frederik" <frederik.pasch@intel.com>
Date: Thu, 16 Jul 2020 09:20:53 +0200
Subject: [PATCH] RSS: Fix calculation of steering angle

As ad-rss-lib is using a right-handed and CARLA left-handed coordinate system, the calculation of the steering angle must be inverted

+ remove obsolete openscenario
---
 LibCarla/source/carla/rss/RssCheck.cpp        |   2 +-
 .../rss/scenarios/FollowLeadingVehicle.xosc   | 218 ------------------
 2 files changed, 1 insertion(+), 219 deletions(-)
 delete mode 100644 PythonAPI/examples/rss/scenarios/FollowLeadingVehicle.xosc

diff --git a/LibCarla/source/carla/rss/RssCheck.cpp b/LibCarla/source/carla/rss/RssCheck.cpp
index 27f3bb8a7..d3f9404a9 100644
--- a/LibCarla/source/carla/rss/RssCheck.cpp
+++ b/LibCarla/source/carla/rss/RssCheck.cpp
@@ -467,7 +467,7 @@ bool RssCheck::CheckObjects(carla::client::Timestamp const &timestamp,
 
 ::ad::physics::Angle RssCheck::GetSteeringAngle(carla::client::Vehicle const &actor) const {
   auto const steer_ratio = actor.GetControl().steer;
-  ::ad::physics::Angle steering_angle(_maximum_steering_angle * steer_ratio);
+  ::ad::physics::Angle steering_angle(-1 * _maximum_steering_angle * steer_ratio);
   return steering_angle;
 }
 
diff --git a/PythonAPI/examples/rss/scenarios/FollowLeadingVehicle.xosc b/PythonAPI/examples/rss/scenarios/FollowLeadingVehicle.xosc
deleted file mode 100644
index ab1231662..000000000
--- a/PythonAPI/examples/rss/scenarios/FollowLeadingVehicle.xosc
+++ /dev/null
@@ -1,218 +0,0 @@
-<?xml version="1.0"?>
-<OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="0" date="2019-06-25T00:00:00" description="CARLA:FollowLeadingVehicle" author=""/>
-  <ParameterDeclarations>
-    <ParameterDeclaration name="$leadingSpeed" parameterType="double" value="2.0"/>
-  </ParameterDeclarations>
-  <CatalogLocations>
-  </CatalogLocations>
-  <RoadNetwork>
-    <LogicFile filepath="Town01"/>
-    <SceneGraphFile filepath=""/>
-  </RoadNetwork>
-  <Entities>
-    <ScenarioObject name="ego_vehicle">
-      <Vehicle name="vehicle.lincoln.mkz2017" vehicleCategory="car">
-        <ParameterDeclarations/>
-        <Performance maxSpeed="69.444" maxAcceleration="10.0" maxDeceleration="10.0"/>
-        <BoundingBox>
-          <Center x="1.5" y="0.0" z="0.9"/>
-          <Dimensions width="2.1" length="4.5" height="1.8"/>
-        </BoundingBox>
-        <Axles>
-          <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
-          <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
-        </Axles>
-        <Properties>
-          <Property name="type" value="ego_vehicle"/>
-          <Property name="color" value="0,0,255"/>
-        </Properties>
-      </Vehicle>
-    </ScenarioObject>
-    <ScenarioObject name="adversary">
-      <Vehicle name="vehicle.lincoln.mkz2017" vehicleCategory="car">
-        <ParameterDeclarations/>
-        <Performance maxSpeed="69.444" maxAcceleration="10.0" maxDeceleration="10.0"/>
-        <BoundingBox>
-          <Center x="1.5" y="0.0" z="0.9"/>
-          <Dimensions width="2.1" length="4.5" height="1.8"/>
-        </BoundingBox>
-        <Axles>
-          <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
-          <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
-        </Axles>
-        <Properties>
-          <Property name="type" value="simulation"/>
-          <Property name="color" value="255,0,0"/>
-        </Properties>
-      </Vehicle>
-    </ScenarioObject>
-  </Entities>
-  <Storyboard>
-    <Init>
-      <Actions>
-        <GlobalAction>
-          <EnvironmentAction>
-            <Environment name="Environment1">
-              <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
-              <Weather cloudState="free">
-                <Sun intensity="1.0" azimuth="0.0" elevation="1.31"/>
-                <Fog visualRange="100000.0"/>
-                <Precipitation precipitationType="dry" intensity="0.0"/>
-              </Weather>
-              <RoadCondition frictionScaleFactor="1.0"/>
-            </Environment>
-          </EnvironmentAction>
-        </GlobalAction>
-        <Private entityRef="ego_vehicle">
-          <PrivateAction>
-            <TeleportAction>
-              <Position>
-                <WorldPosition x="150" y="133" z="0" h="0"/>
-              </Position>
-            </TeleportAction>
-          </PrivateAction>          
-          <PrivateAction>
-            <ControllerAction>
-                <AssignControllerAction>
-                    <Controller name="EgoVehicleAgent">
-                        <Properties>
-                            <Property name="module" value="external_control" />
-                        </Properties>
-                    </Controller>
-                </AssignControllerAction>
-                <OverrideControllerValueAction>
-                    <Throttle value="0" active="false" />
-                    <Brake value="0" active="false" />
-                    <Clutch value="0" active="false" />
-                    <ParkingBrake value="0" active="false" />
-                    <SteeringWheel value="0" active="false" />
-                    <Gear number="0" active="false" />
-                </OverrideControllerValueAction>
-            </ControllerAction>
-        </PrivateAction>
-        </Private>
-        <Private entityRef="adversary">
-          <PrivateAction>
-            <TeleportAction>
-              <Position>
-                <WorldPosition x="190" y="133" z="0" h="0"/>
-              </Position>
-            </TeleportAction>
-          </PrivateAction>
-        </Private>
-      </Actions>
-    </Init>
-    <Story name="MyStory">
-      <Act name="Behavior">
-        <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
-          <Actors selectTriggeringEntities="false">
-            <EntityRef entityRef="adversary"/>
-          </Actors>
-          <Maneuver name="FollowLeadingVehicleManeuver">
-            <Event name="LeadingVehicleKeepsVelocity" priority="overwrite">
-              <Action name="LeadingVehicleKeepsVelocity">
-                <PrivateAction>
-                  <LongitudinalAction>
-                    <SpeedAction>
-                      <SpeedActionDynamics dynamicsShape="step" value="100" dynamicsDimension="distance"/>
-                      <SpeedActionTarget>
-                        <AbsoluteTargetSpeed value="$leadingSpeed"/>
-                      </SpeedActionTarget>
-                    </SpeedAction>
-                  </LongitudinalAction>
-                </PrivateAction>
-              </Action>
-              <StartTrigger>
-                <ConditionGroup>
-                  <Condition name="StartCondition" delay="0" conditionEdge="rising">
-                    <ByEntityCondition>
-                      <TriggeringEntities triggeringEntitiesRule="any">
-                        <EntityRef entityRef="ego_vehicle"/>
-                      </TriggeringEntities>
-                      <EntityCondition>
-                        <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/>
-                      </EntityCondition>
-                    </ByEntityCondition>
-                  </Condition>
-                </ConditionGroup>
-              </StartTrigger>
-            </Event>
-          </Maneuver>
-        </ManeuverGroup>
-        <StartTrigger>
-          <ConditionGroup>
-            <Condition name="OverallStartCondition" delay="0" conditionEdge="rising">
-              <ByEntityCondition>
-                <TriggeringEntities triggeringEntitiesRule="any">
-                  <EntityRef entityRef="ego_vehicle"/>
-                </TriggeringEntities>
-                <EntityCondition>
-                  <TraveledDistanceCondition value="1.0"/>
-                </EntityCondition>
-              </ByEntityCondition>
-            </Condition>
-            <Condition name="StartTime" delay="0" conditionEdge="rising">
-              <ByValueCondition>
-                <SimulationTimeCondition value="0" rule="equalTo"/>
-              </ByValueCondition>
-            </Condition>
-          </ConditionGroup>
-        </StartTrigger>
-        <StopTrigger>
-          <ConditionGroup>
-            <Condition name="EndCondition" delay="0" conditionEdge="rising">
-              <ByEntityCondition>
-                <TriggeringEntities triggeringEntitiesRule="any">
-                  <EntityRef entityRef="ego_vehicle"/>
-                </TriggeringEntities>
-                <EntityCondition>
-                  <TraveledDistanceCondition value="100.0"/>
-                </EntityCondition>
-              </ByEntityCondition>
-            </Condition>
-          </ConditionGroup>
-        </StopTrigger>
-      </Act>
-    </Story>
-    <StopTrigger>
-      <ConditionGroup>
-        <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-      </ConditionGroup>
-    </StopTrigger>
-  </Storyboard>
-</OpenSCENARIO>