Commit cbd81605 authored by Sebastian Maierhofer's avatar Sebastian Maierhofer
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add acc falsification scenarios and update xsd file

parent bbc7e03c

documentation/XML_commonRoad.pdf

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documentation/XML_commonRoad_XSD.xsd

+301 −328
Original line number Diff line number Diff line
@@ -10,30 +10,26 @@ __status__ = "in development" 


""" XSD for CommonRoad benchmark scenarios """

-->



<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">

  <!-- %%%%%%%%%%%%%%% auxiliary xsd elements %%%%%%%%%%%%%%% -->

  <!-- distance in meter (positive decimals) -->

    <xs:simpleType name="distance">

  <xs:simpleType name="positiveDecimal">

    <xs:restriction base="xs:decimal">

      <xs:minExclusive value="0.0"/>

    </xs:restriction>

  </xs:simpleType>

	

  <!-- decimal value: either exact or interval -->

  <xs:complexType name="decimalExact">

    <xs:all>

      <xs:element name="exact" type="xs:decimal"/>

    </xs:all>

  </xs:complexType>

	

  <xs:complexType name="decimalInterval">

    <xs:sequence>

      <xs:element name="intervalStart" type="xs:decimal"/>

      <xs:element name="intervalEnd" type="xs:decimal"/>

    </xs:sequence>

  </xs:complexType>

	

  <xs:complexType name="decimalExactOrInterval">

    <xs:choice>

      <xs:element name="exact" type="xs:decimal"/>
@@ -43,22 +39,18 @@ __status__ = "in development" 
      </xs:sequence>

    </xs:choice>

  </xs:complexType>



	<!-- integer zero -->

	<xs:simpleType name="integerZero">

		<xs:restriction base="xs:nonNegativeInteger">

			<xs:minInclusive value="0" />

			<xs:maxInclusive value="0" />

		</xs:restriction>

	</xs:simpleType>

	

  <!-- integer value exact zero -->

  <xs:complexType name="integerExactZero">

    <xs:all>

      <xs:element name="exact" type="integerZero"/>

    </xs:all>

  </xs:complexType>

	

  <xs:simpleType name="integerZero">

    <xs:restriction base="xs:nonNegativeInteger">

      <xs:minInclusive value="0"/>

      <xs:maxInclusive value="0"/>

    </xs:restriction>

  </xs:simpleType>

  <!-- integer value greater than zero: either exact or interval -->

  <xs:complexType name="integerIntervalGreaterZero">

    <xs:sequence>
@@ -66,7 +58,6 @@ __status__ = "in development" 
      <xs:element name="intervalEnd" type="xs:positiveInteger"/>

    </xs:sequence>

  </xs:complexType>

	

  <xs:complexType name="integerExactOrIntervalGreaterZero">

    <xs:choice>

      <xs:element name="exact" type="xs:positiveInteger"/>
@@ -76,7 +67,6 @@ __status__ = "in development" 
      </xs:sequence>

    </xs:choice>

  </xs:complexType>

	

  <!-- %%%%%%%%%%%%%%% auxiliary CommonRoad elements %%%%%%%%%%%%%%% -->

  <xs:complexType name="point">

    <xs:sequence>
@@ -84,30 +74,25 @@ __status__ = "in development" 
      <xs:element name="y" type="xs:decimal"/>

    </xs:sequence>

  </xs:complexType>

	

  <xs:complexType name="rectangle">

    <xs:sequence>

            <xs:element name="length" type="distance" />

            <xs:element name="width" type="distance" />

      <xs:element name="length" type="positiveDecimal"/>

      <xs:element name="width" type="positiveDecimal"/>

      <xs:element name="orientation" type="xs:decimal" minOccurs="0"/>

      <xs:element name="center" type="point" minOccurs="0"/>

    </xs:sequence>

  </xs:complexType>



  <xs:complexType name="circle">

    <xs:sequence>

            <xs:element name="radius" type="distance" />

      <xs:element name="radius" type="positiveDecimal"/>

      <xs:element name="center" type="point" minOccurs="0"/>

    </xs:sequence>

  </xs:complexType>



  <xs:complexType name="polygon">

    <xs:sequence>

            <xs:element name="point" type="point" 

				minOccurs="3" maxOccurs="unbounded" />

      <xs:element name="point" type="point" minOccurs="3" maxOccurs="unbounded"/>

    </xs:sequence>

  </xs:complexType>



  <xs:complexType name="shape">

    <xs:choice maxOccurs="unbounded">

      <xs:element name="rectangle" type="rectangle"/>
@@ -115,7 +100,6 @@ __status__ = "in development" 
      <xs:element name="polygon" type="polygon"/>

    </xs:choice>

  </xs:complexType>

	

  <xs:complexType name="position">

    <xs:choice>

      <xs:element name="point" type="point"/>
@@ -125,13 +109,11 @@ __status__ = "in development" 
      <xs:element name="lanelet" type="laneletRef" maxOccurs="unbounded"/>

    </xs:choice>

  </xs:complexType>

	

  <xs:complexType name="positionExact">

    <xs:all>

      <xs:element name="point" type="point"/>

    </xs:all>

  </xs:complexType>

	

  <xs:complexType name="positionInterval">

    <xs:choice>

      <xs:element name="rectangle" type="rectangle" maxOccurs="unbounded"/>
@@ -140,7 +122,6 @@ __status__ = "in development" 
      <xs:element name="lanelet" type="laneletRef" maxOccurs="unbounded"/>

    </xs:choice>

  </xs:complexType>

	

  <xs:complexType name="state">

    <xs:all>

      <xs:element name="position" type="position"/>
@@ -152,7 +133,6 @@ __status__ = "in development" 
      <xs:element name="slipAngle" type="decimalExactOrInterval" minOccurs="0"/>

    </xs:all>

  </xs:complexType>

	

  <xs:complexType name="initialState">

    <xs:all>

      <xs:element name="position" type="position"/>
@@ -164,7 +144,6 @@ __status__ = "in development" 
      <xs:element name="slipAngle" type="decimalExactOrInterval" minOccurs="0"/>

    </xs:all>

  </xs:complexType>

	

  <xs:complexType name="initialStateExact">

    <xs:all>

      <xs:element name="position" type="positionExact"/>
@@ -173,9 +152,9 @@ __status__ = "in development" 
      <xs:element name="yawRate" type="decimalExact"/>

      <xs:element name="slipAngle" type="decimalExact"/>

      <xs:element name="time" type="integerExactZero"/>

      <xs:element name="acceleration" type="decimalExact" minOccurs="0"/>

    </xs:all>

  </xs:complexType>

	

  <xs:complexType name="goalState">

    <xs:all>

      <xs:element name="time" type="integerIntervalGreaterZero"/>
@@ -184,14 +163,12 @@ __status__ = "in development" 
      <xs:element name="velocity" type="decimalInterval" minOccurs="0"/>

    </xs:all>

  </xs:complexType>

	

  <xs:complexType name="occupancy">

    <xs:sequence>

      <xs:element name="shape" type="shape"/>

      <xs:element name="time" type="integerExactOrIntervalGreaterZero"/>

    </xs:sequence>

  </xs:complexType>



  <!-- %%%%%%%%%%%%%%% main CommonRoad elements %%%%%%%%%%%%%%% -->

  <!-- lanelet -->

  <xs:simpleType name="lineMarking">
@@ -200,51 +177,37 @@ __status__ = "in development" 
      <xs:enumeration value="solid"/>

    </xs:restriction>

  </xs:simpleType>



  <xs:complexType name="bound">

    <xs:sequence>

            <xs:element name="point" type="point"

                minOccurs="2" maxOccurs="unbounded" />

            <xs:element name="lineMarking" type="lineMarking"

                minOccurs="0" />

      <xs:element name="point" type="point" minOccurs="2" maxOccurs="unbounded"/>

      <xs:element name="lineMarking" type="lineMarking" minOccurs="0"/>

    </xs:sequence>

  </xs:complexType>



  <xs:complexType name="laneletRef">

    <xs:attribute name="ref" type="xs:integer" use="required"/>

  </xs:complexType>



  <xs:simpleType name="drivingDir">

    <xs:restriction base="xs:string">

      <xs:enumeration value="same"/>

      <xs:enumeration value="opposite"/>

    </xs:restriction>

  </xs:simpleType>



  <xs:complexType name="laneletAdjacentRef">

    <xs:attribute name="ref" type="xs:integer" use="required"/>

        <xs:attribute name="drivingDir" type="drivingDir"

            use="required" />

    <xs:attribute name="drivingDir" type="drivingDir" use="required"/>

  </xs:complexType>



  <xs:complexType name="lanelet">

    <xs:sequence>

      <xs:element name="leftBound" type="bound"/>

      <xs:element name="rightBound" type="bound"/>

            <xs:element name="predecessor" type="laneletRef"

                minOccurs="0" maxOccurs="unbounded" />

            <xs:element name="successor" type="laneletRef"

                minOccurs="0" maxOccurs="unbounded" />

            <xs:element name="adjacentLeft" type="laneletAdjacentRef"

				minOccurs="0" />

			<xs:element name="adjacentRight" type="laneletAdjacentRef"

				minOccurs="0" />

			<xs:element name="speedLimit" type="xs:decimal"

				minOccurs="0" />

      <xs:element name="predecessor" type="laneletRef" minOccurs="0" maxOccurs="unbounded"/>

      <xs:element name="successor" type="laneletRef" minOccurs="0" maxOccurs="unbounded"/>

      <xs:element name="adjacentLeft" type="laneletAdjacentRef" minOccurs="0"/>

      <xs:element name="adjacentRight" type="laneletAdjacentRef" minOccurs="0"/>

      <xs:element name="speedLimit" type="xs:decimal" minOccurs="0"/>

    </xs:sequence>

        <xs:attribute name="id" type="xs:integer" use="required" />

    <xs:attribute name="id" type="xs:positiveInteger" use="required"/>

  </xs:complexType>

	

  <!-- obstacle -->

  <xs:simpleType name="obstacleRole">

    <xs:restriction base="xs:string">
@@ -252,7 +215,6 @@ __status__ = "in development" 
      <xs:enumeration value="dynamic"/>

    </xs:restriction>

  </xs:simpleType>



  <xs:simpleType name="obstacleType">

    <xs:restriction base="xs:string">

      <xs:enumeration value="unknown"/>
@@ -270,7 +232,6 @@ __status__ = "in development" 
      <xs:enumeration value="train"/>

    </xs:restriction>

  </xs:simpleType>

	

  <xs:complexType name="obstacle">

    <xs:sequence>

      <xs:element name="role" type="obstacleRole"/>
@@ -294,29 +255,41 @@ __status__ = "in development" 
        </xs:element>

      </xs:choice>

    </xs:sequence>

        <xs:attribute name="id" type="xs:integer" use="required" />

    <xs:attribute name="id" type="xs:positiveInteger" use="required"/>

  </xs:complexType>



  <!-- planning problem -->

  <xs:complexType name="planningProblem">

    <xs:sequence>

      <xs:element name="initialState" type="initialStateExact"/>

            <xs:element name="goalState" type="goalState" 

				minOccurs="1" maxOccurs="unbounded" />

      <xs:element name="goalState" type="goalState" minOccurs="1" maxOccurs="unbounded"/>

    </xs:sequence>

    <xs:attribute name="id" type="xs:positiveInteger" use="required"/>

  </xs:complexType>

  <xs:complexType name="geoReference" mixed="true">

    <!-- mixed="true" allows text content AND elements like userData -->

  </xs:complexType>

  <xs:complexType name="additionalTransformation">

    <xs:sequence>

      <xs:element name="xTranslation" type="xs:decimal"/>

      <xs:element name="yTranslation" type="xs:decimal"/>

      <xs:element name="zRotation" type="xs:decimal"/>

      <xs:element name="scaling" type="positiveDecimal"/>

    </xs:sequence>

  </xs:complexType>

  <xs:complexType name="geoTransformation">

    <xs:sequence minOccurs="0" maxOccurs="1">

      <xs:element name="geoReference" type="geoReference"/>

      <xs:element name="additionalTransformation" type="additionalTransformation"/>

    </xs:sequence>

        <xs:attribute name="id" type="xs:integer" use="required" />

  </xs:complexType>



  <!-- %%%%%%%%%%%%%%% root CommonRoad element %%%%%%%%%%%%%%% -->

  <xs:element name="commonRoad">

    <xs:complexType>

      <xs:sequence>

				<xs:element name="lanelet" type="lanelet"

                    minOccurs="1" maxOccurs="unbounded" />

                <xs:element name="obstacle" type="obstacle"

                    minOccurs="0" maxOccurs="unbounded" />

                <xs:element name="planningProblem" type="planningProblem"

                    minOccurs="1" maxOccurs="unbounded" />

        <xs:element name="geoTransformation" type="geoTransformation" minOccurs="0" maxOccurs="1"/>

        <xs:element name="lanelet" type="lanelet" minOccurs="1" maxOccurs="unbounded"/>

        <xs:element name="obstacle" type="obstacle" minOccurs="0" maxOccurs="unbounded"/>

        <xs:element name="planningProblem" type="planningProblem" minOccurs="1" maxOccurs="unbounded"/>

      </xs:sequence>

      <xs:attribute name="commonRoadVersion" use="required">

        <xs:simpleType>

scenarios/hand-crafted/ZAM_ACC-1_1_T-1.xml

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