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authorDmitri Fix2020-10-01 05:29:58 +0000
committerDmitri Fix2020-10-01 05:29:58 +0000
commit5e53affd03ffe2bfbeda56777db91294fe09247f (patch)
treed08c18dd2ba561bc57ae27a9c3532df939c21aed
parent5122db01d935f326e52e0c42be88291b37ecb920 (diff)
downloadsimopenpass-itk.tar.gz
simopenpass-itk.tar.xz
simopenpass-itk.zip
sort out examples and metadataitk
-rw-r--r--gui/components/Algorithm_BrakeAssist.xml159
-rw-r--r--gui/components/Algorithm_CollisionPrediction.xml84
-rw-r--r--gui/components/Algorithm_DriverReaction.xml84
-rw-r--r--gui/components/Algorithm_EvasiveSteering.xml76
-rw-r--r--gui/components/Algorithm_LaneAssist.xml97
-rw-r--r--gui/components/Algorithm_MPC.xml140
-rw-r--r--gui/components/Algorithm_RoutePlanner.xml56
-rw-r--r--gui/components/Algorithm_TimeToBrake.xml91
-rw-r--r--gui/components/Algorithm_TimeToSteer.xml119
-rw-r--r--gui/components/Sensor_OSIAgent.xml25
-rw-r--r--gui/components/Sensor_OSIRoad.xml25
-rw-r--r--gui/components/Sensor_Radar.xml103
-rw-r--r--sim/contrib/examples/PCM/components/Action_LongitudinalDriver.xml21
-rw-r--r--sim/contrib/examples/PCM/components/Action_SecondaryDriverTasks.xml21
-rw-r--r--sim/contrib/examples/PCM/components/AgentUpdater.xml21
-rw-r--r--sim/contrib/examples/PCM/components/AlgorithmAgentFollowingDriverModel.xml83
-rw-r--r--sim/contrib/examples/PCM/components/Algorithm_AEB.xml57
-rw-r--r--sim/contrib/examples/PCM/components/Algorithm_ECU.xml48
-rw-r--r--sim/contrib/examples/PCM/components/Algorithm_Lateral.xml42
-rw-r--r--sim/contrib/examples/PCM/components/Algorithm_Longitudinal.xml42
-rw-r--r--sim/contrib/examples/PCM/components/Algorithm_RouteControl.xml91
-rw-r--r--sim/contrib/examples/PCM/components/Algorithm_Selector.xml64
-rw-r--r--sim/contrib/examples/PCM/components/Algorithm_Switch.xml55
-rw-r--r--sim/contrib/examples/PCM/components/Algorithm_TrajectoryFollower.xml160
-rw-r--r--sim/contrib/examples/PCM/components/ComponentController.xml34
-rw-r--r--sim/contrib/examples/PCM/components/Dynamics_Chassis.xml42
-rw-r--r--sim/contrib/examples/PCM/components/Dynamics_Collision.xml20
-rw-r--r--sim/contrib/examples/PCM/components/Dynamics_CollisionPCM.xml21
-rw-r--r--sim/contrib/examples/PCM/components/Dynamics_CollisionPostCrash.xml20
-rw-r--r--sim/contrib/examples/PCM/components/Dynamics_CopyTrajectory.xml21
-rw-r--r--sim/contrib/examples/PCM/components/Dynamics_RegularDriving.xml42
-rw-r--r--sim/contrib/examples/PCM/components/Dynamics_RegularTwoTrack.xml42
-rw-r--r--sim/contrib/examples/PCM/components/Dynamics_TrajectoryFollower.xml63
-rw-r--r--sim/contrib/examples/PCM/components/Dynamics_TwoTrack.xml78
-rw-r--r--sim/contrib/examples/PCM/components/EgoSensor.xml68
-rw-r--r--sim/contrib/examples/PCM/components/Init_Agent.xml50
-rw-r--r--sim/contrib/examples/PCM/components/OpenScenarioActions.xml39
-rw-r--r--sim/contrib/examples/PCM/components/Parameters_Vehicle.xml20
-rw-r--r--sim/contrib/examples/PCM/components/SensorFusion_OSI.xml28
-rw-r--r--sim/contrib/examples/PCM/components/Sensor_CameraMarks.xml (renamed from gui/components/Sensor_CameraAgent.xml)49
-rw-r--r--sim/contrib/examples/PCM/components/Sensor_Collision.xml28
-rw-r--r--sim/contrib/examples/PCM/components/Sensor_Driver.xml20
-rw-r--r--sim/contrib/examples/PCM/components/Sensor_OSI.xml105
-rw-r--r--sim/contrib/examples/PCM/components/Sensor_RecordState.xml13
-rw-r--r--sim/contrib/examples/PCM/components/SignalPrioritizer.xml78
-rw-r--r--sim/contrib/examples/PCM/masterConfig.xml14
-rw-r--r--sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/ProfilesCatalog.xml (renamed from sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/ProfilesCatalog.xml)0
-rw-r--r--sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/Scenario.xosc (renamed from sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/Scenario.xosc)0
-rw-r--r--sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/SceneryConfiguration.xodr (renamed from sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/SceneryConfiguration.xodr)0
-rw-r--r--sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/SystemConfig.xml (renamed from sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/SystemConfig.xml)0
-rw-r--r--sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/VehicleModelsCatalog.xosc (renamed from sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/VehicleModelsCatalog.xosc)0
-rw-r--r--sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/sceneryConfiguration.xml (renamed from sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/sceneryConfiguration.xml)0
-rw-r--r--sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/slaveConfig.xml (renamed from sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/slaveConfig.xml)0
-rw-r--r--sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/results/Cyclics_Run_000.csv (renamed from sim/contrib/examples/PCM/1000232/0-0-0/Default/results/Cyclics_Run_000.csv)0
-rw-r--r--sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/results/simulationOutput.xml (renamed from sim/contrib/examples/PCM/1000232/0-0-0/Default/results/simulationOutput.xml)0
55 files changed, 1574 insertions, 1085 deletions
diff --git a/gui/components/Algorithm_BrakeAssist.xml b/gui/components/Algorithm_BrakeAssist.xml
deleted file mode 100644
index 0ca1dac3..00000000
--- a/gui/components/Algorithm_BrakeAssist.xml
+++ /dev/null
@@ -1,159 +0,0 @@
-<component>
- <type>Algorithm</type>
- <title>Algorithm_BrakeAssist</title>
- <schedule>
- <offset>0</offset>
- <cycle>10</cycle>
- <response>0</response>
- </schedule>
- <parameters>
- <parameter>
- <id>0</id>
- <type>bool</type>
- <title>Assist on steady objects</title>
- <unit></unit>
- <value>1</value>
- </parameter>
- <parameter>
- <id>7</id>
- <type>bool</type>
- <title>Consider TTB for Emergency Brake</title>
- <unit></unit>
- <value>0</value>
- </parameter>
- <parameter>
- <id>8</id>
- <type>bool</type>
- <title>Consider TTS for Emergency Brake</title>
- <unit></unit>
- <value>0</value>
- </parameter>
- <parameter>
- <id>1</id>
- <type>double</type>
- <title>TTC for warning</title>
- <unit>s</unit>
- <value>5.0</value>
- </parameter>
- <parameter>
- <id>2</id>
- <type>double</type>
- <title>Min. agent's speed</title>
- <unit>m/s</unit>
- <value>2.0</value>
- </parameter>
- <parameter>
- <id>3</id>
- <type>double</type>
- <title>Max. agent's speed for moving objects</title>
- <unit>m/s</unit>
- <value>60.0</value>
- </parameter>
- <parameter>
- <id>4</id>
- <type>double</type>
- <title>Max. agent's speed for steady objects</title>
- <unit>m/s</unit>
- <value>30.0</value>
- </parameter>
- <parameter>
- <id>5</id>
- <type>double</type>
- <title>TTC for emergency brake</title>
- <unit>s</unit>
- <value>1.0</value>
- </parameter>
- <parameter>
- <id>6</id>
- <type>double</type>
- <title>Warning reset period</title>
- <unit>s</unit>
- <value>1.0</value>
- </parameter>
- </parameters>
- <inputs>
- <input>
- <id>0</id>
- <type>double</type>
- <title>distance</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>1</id>
- <type>double</type>
- <title>Agent's longitudinal velocity </title>
- <unit>m/s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>2</id>
- <type>double</type>
- <title>Opponent's relative approach velocity</title>
- <unit>m/s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>3</id>
- <type>double</type>
- <title>Agent's longitudinal acceleration</title>
- <unit>m/s^2</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>4</id>
- <type>double</type>
- <title>Opponent's relative approach acceleration</title>
- <unit>m/s^2</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>5</id>
- <type>double</type>
- <title>Time-to-collision</title>
- <unit>s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>6</id>
- <type>double</type>
- <title>Time-to-brake</title>
- <unit>s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>7</id>
- <type>double</type>
- <title>Time-to-steer</title>
- <unit>s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>8</id>
- <type>ControlData</type>
- <title>Control</title>
- <unit></unit>
- <cardinality>1</cardinality>
- </input>
- </inputs>
- <outputs>
- <output>
- <id>0</id>
- <type>bool</type>
- <title>Collision warning</title>
- <unit></unit>
- </output>
- <output>
- <id>1</id>
- <type>bool</type>
- <title>Intervention</title>
- <unit></unit>
- </output>
- <output>
- <id>2</id>
- <type>ControlData</type>
- <title>Control</title>
- <unit></unit>
- </output>
- </outputs>
-</component>
diff --git a/gui/components/Algorithm_CollisionPrediction.xml b/gui/components/Algorithm_CollisionPrediction.xml
deleted file mode 100644
index 5e2701a3..00000000
--- a/gui/components/Algorithm_CollisionPrediction.xml
+++ /dev/null
@@ -1,84 +0,0 @@
-<component>
- <type>Algorithm</type>
- <title>Algorithm_CollisionPrediction</title>
- <schedule>
- <offset>0</offset>
- <cycle>10</cycle>
- <response>0</response>
- </schedule>
- <parameters>
- <parameter>
- <id>0</id>
- <type>bool</type>
- <title>Uniform motion</title>
- <unit></unit>
- <value>0</value>
- </parameter>
- <parameter>
- <id>1</id>
- <type>double</type>
- <title>Activity range</title>
- <unit>m</unit>
- <value>70.0</value>
- </parameter>
- <parameter>
- <id>2</id>
- <type>double</type>
- <title>Collision recognition radius</title>
- <unit>m</unit>
- <value>3.0</value>
- </parameter>
- </parameters>
- <inputs>
- <input>
- <id>0</id>
- <type>double</type>
- <title>Agent's x-coordinate</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>1</id>
- <type>double</type>
- <title>Agent's y-coordinate</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>2</id>
- <type>double</type>
- <title>Agent's pointing direction</title>
- <unit>rad</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>3</id>
- <type>double</type>
- <title>Distance to opponent</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>4</id>
- <type>double</type>
- <title>Opponent detection direction</title>
- <unit>rad</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>5</id>
- <type>double</type>
- <title>Distance to COG from Leading Edge</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- </inputs>
- <outputs>
- <output>
- <id>0</id>
- <type>double</type>
- <title>Time-to-collision</title>
- <unit>s</unit>
- </output>
- </outputs>
-</component>
diff --git a/gui/components/Algorithm_DriverReaction.xml b/gui/components/Algorithm_DriverReaction.xml
deleted file mode 100644
index 65ae40a9..00000000
--- a/gui/components/Algorithm_DriverReaction.xml
+++ /dev/null
@@ -1,84 +0,0 @@
-<component>
- <type>Algorithm</type>
- <title>Algorithm_DriverReaction</title>
- <schedule>
- <offset>0</offset>
- <cycle>10</cycle>
- <response>0</response>
- </schedule>
- <parameters>
- <parameter>
- <id>0</id>
- <type>double</type>
- <title>Probability for left evasion</title>
- <unit></unit>
- <value>5</value>
- </parameter>
- <parameter>
- <id>1</id>
- <type>double</type>
- <title>Probability for right evasion</title>
- <unit></unit>
- <value>5</value>
- </parameter>
- <parameter>
- <id>2</id>
- <type>double</type>
- <title>Probability for braking</title>
- <unit></unit>
- <value>40</value>
- </parameter>
- <parameter>
- <id>3</id>
- <type>double</type>
- <title>Probability for sleeping</title>
- <unit></unit>
- <value>50</value>
- </parameter>
- <parameter>
- <id>4</id>
- <type>double</type>
- <title>Reaction time</title>
- <unit>s</unit>
- <value>0</value>
- </parameter>
- <parameter>
- <id>5</id>
- <type>double</type>
- <title>Brake intensity</title>
- <unit></unit>
- <value>0.2</value>
- </parameter>
- <parameter>
- <id>6</id>
- <type>double</type>
- <title>Steering derivative</title>
- <unit>degree/s</unit>
- <value>15</value>
- </parameter>
- </parameters>
- <inputs>
- <input>
- <id>0</id>
- <type>ControlData</type>
- <title>Control</title>
- <unit></unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>1</id>
- <type>bool</type>
- <title>Collision warning</title>
- <unit></unit>
- <cardinality>1</cardinality>
- </input>
- </inputs>
- <outputs>
- <output>
- <id>0</id>
- <type>ControlData</type>
- <title>Control</title>
- <unit></unit>
- </output>
- </outputs>
-</component>
diff --git a/gui/components/Algorithm_EvasiveSteering.xml b/gui/components/Algorithm_EvasiveSteering.xml
deleted file mode 100644
index 733291f0..00000000
--- a/gui/components/Algorithm_EvasiveSteering.xml
+++ /dev/null
@@ -1,76 +0,0 @@
-<component>
- <type>Algorithm</type>
- <title>Algorithm_EvasiveSteering</title>
- <schedule>
- <offset>0</offset>
- <cycle>10</cycle>
- <response>0</response>
- </schedule>
- <parameters>
- <parameter>
- <id>0</id>
- <type>bool</type>
- <title>Enable</title>
- <unit></unit>
- <value>1</value>
- </parameter>
- <parameter>
- <id>1</id>
- <type>double</type>
- <title>Max. steering angle</title>
- <unit>degree</unit>
- <value>5.0</value>
- </parameter>
- <parameter>
- <id>2</id>
- <type>double</type>
- <title>Steering period</title>
- <unit>s</unit>
- <value>0.08</value>
- </parameter>
- <parameter>
- <id>3</id>
- <type>double</type>
- <title>Critical steering derivative</title>
- <unit>degree/s</unit>
- <value>10.0</value>
- </parameter>
- <parameter>
- <id>4</id>
- <type>double</type>
- <title>Time-to-collision for intervention</title>
- <unit>s</unit>
- <value>1.0</value>
- </parameter>
- </parameters>
- <inputs>
- <input>
- <id>0</id>
- <type>double</type>
- <title>Steering angle</title>
- <unit>rad</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>1</id>
- <type>double</type>
- <title>Time-to-collision</title>
- <unit>s</unit>
- <cardinality>1</cardinality>
- </input>
- </inputs>
- <outputs>
- <output>
- <id>0</id>
- <type>bool</type>
- <title>Intervention</title>
- <unit></unit>
- </output>
- <output>
- <id>1</id>
- <type>ControlData</type>
- <title>Control</title>
- <unit></unit>
- </output>
- </outputs>
-</component>
diff --git a/gui/components/Algorithm_LaneAssist.xml b/gui/components/Algorithm_LaneAssist.xml
deleted file mode 100644
index 439e1646..00000000
--- a/gui/components/Algorithm_LaneAssist.xml
+++ /dev/null
@@ -1,97 +0,0 @@
-<component>
- <type>Algorithm</type>
- <title>Algorithm_LaneAssist</title>
- <schedule>
- <offset>0</offset>
- <cycle>10</cycle>
- <response>0</response>
- </schedule>
- <parameters>
- <parameter>
- <id>0</id>
- <type>bool</type>
- <title>Enable</title>
- <unit></unit>
- <value>1</value>
- </parameter>
- <parameter>
- <id>1</id>
- <type>double</type>
- <title>Brake overlay</title>
- <unit></unit>
- <value>0.5</value>
- </parameter>
- <parameter>
- <id>2</id>
- <type>double</type>
- <title>Distance threshold</title>
- <unit>m</unit>
- <value>0.5</value>
- </parameter>
- <parameter>
- <id>3</id>
- <type>double</type>
- <title>Approach velocity threshold</title>
- <unit>m/s</unit>
- <value>1</value>
- </parameter>
- </parameters>
- <inputs>
- <input>
- <id>0</id>
- <type>double</type>
- <title>Distance to marks</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>1</id>
- <type>double</type>
- <title>Mark approach velocity</title>
- <unit>m/s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>2</id>
- <type>int</type>
- <title>Vehicle side</title>
- <unit></unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>3</id>
- <type>int</type>
- <title>Mark type</title>
- <unit></unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>4</id>
- <type>bool</type>
- <title>Object detected</title>
- <unit></unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>5</id>
- <type>double</type>
- <title>Vehicle Width</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- </inputs>
- <outputs>
- <output>
- <id>0</id>
- <type>bool</type>
- <title>Intervention</title>
- <unit></unit>
- </output>
- <output>
- <id>1</id>
- <type>ControlData</type>
- <title>Control</title>
- <unit></unit>
- </output>
- </outputs>
-</component>
diff --git a/gui/components/Algorithm_MPC.xml b/gui/components/Algorithm_MPC.xml
deleted file mode 100644
index 6e49a66f..00000000
--- a/gui/components/Algorithm_MPC.xml
+++ /dev/null
@@ -1,140 +0,0 @@
-<component>
- <type>Algorithm</type>
- <title>Algorithm_MPC</title>
- <schedule>
- <offset>0</offset>
- <cycle>10</cycle>
- <response>0</response>
- </schedule>
- <parameters>
- <parameter>
- <id>0</id>
- <type>bool</type>
- <title>Enable</title>
- <unit></unit>
- <value>1</value>
- </parameter>
- <parameter>
- <id>1</id>
- <type>double</type>
- <title>Critical visibility</title>
- <unit></unit>
- <value>0.5</value>
- </parameter>
- </parameters>
- <inputs>
- <input>
- <id>0</id>
- <type>double</type>
- <title>Visibility</title>
- <unit></unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>1</id>
- <type>double</type>
- <title>Distance to opponent</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>2</id>
- <type>double</type>
- <title>Detection view direction</title>
- <unit>rad</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>3</id>
- <type>double</type>
- <title>Object's velocity</title>
- <unit>m/s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>4</id>
- <type>double</type>
- <title>Relative velocity</title>
- <unit>m/s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>5</id>
- <type>double</type>
- <title>Relative acceleration</title>
- <unit>m/s^2</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>6</id>
- <type>double</type>
- <title>Time-to-collision</title>
- <unit>s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>7</id>
- <type>bool</type>
- <title>Collision possibility</title>
- <unit></unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>8</id>
- <type>bool</type>
- <title>Object detection</title>
- <unit></unit>
- <cardinality>1</cardinality>
- </input>
- </inputs>
- <outputs>
- <output>
- <id>0</id>
- <type>double</type>
- <title>Processed distance</title>
- <unit>m</unit>
- </output>
- <output>
- <id>1</id>
- <type>double</type>
- <title>Processed view direction</title>
- <unit>rad</unit>
- </output>
- <output>
- <id>2</id>
- <type>double</type>
- <title>Processed opponent's velocity</title>
- <unit>m/s</unit>
- </output>
- <output>
- <id>3</id>
- <type>double</type>
- <title>Processed relative velocity</title>
- <unit>m/s</unit>
- </output>
- <output>
- <id>4</id>
- <type>double</type>
- <title>Processed relative acceleration</title>
- <unit>m/s^2</unit>
- </output>
- <output>
- <id>5</id>
- <type>double</type>
- <title>Processed TTC</title>
- <unit>s</unit>
- </output>
- <output>
- <id>6</id>
- <type>bool</type>
- <title>Processed collision possibility</title>
- <unit></unit>
- </output>
- <output>
- <id>7</id>
- <type>bool</type>
- <title>Processed object detection</title>
- <unit></unit>
- </output>
- </outputs>
-</component>
diff --git a/gui/components/Algorithm_RoutePlanner.xml b/gui/components/Algorithm_RoutePlanner.xml
deleted file mode 100644
index 2016b171..00000000
--- a/gui/components/Algorithm_RoutePlanner.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-<component>
- <type>Algorithm</type>
- <title>Algorithm_RoutePlanner</title>
- <schedule>
- <offset>0</offset>
- <cycle>10</cycle>
- <response>0</response>
- </schedule>
- <parameters>
- <parameter>
- <id>0</id>
- <type>double</type>
- <title>timeHeadwayThreshold</title>
- <unit></unit>
- <value>5.0</value>
- </parameter>
- </parameters>
- <inputs>
- <input>
- <id>0</id>
- <type>Trajectory</type>
- <title>laneTrajctory</title>
- <unit></unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>1</id>
- <type>double</type>
- <title>distanceOpp</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>2</id>
- <type>double</type>
- <title>velOpp</title>
- <unit>m/s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>3</id>
- <type>double</type>
- <title>egoVel</title>
- <unit>m/s</unit>
- <cardinality>1</cardinality>
- </input>
- </inputs>
- <outputs>
- <output>
- <id>0</id>
- <type>Trajectory</type>
- <title>plannedTrajectory</title>
- <unit></unit>
- </output>
- </outputs>
-</component>
diff --git a/gui/components/Algorithm_TimeToBrake.xml b/gui/components/Algorithm_TimeToBrake.xml
deleted file mode 100644
index 249cbb6a..00000000
--- a/gui/components/Algorithm_TimeToBrake.xml
+++ /dev/null
@@ -1,91 +0,0 @@
-<component>
- <type>Algorithm</type>
- <title>Algorithm_TimeToBrake</title>
- <schedule>
- <offset>0</offset>
- <cycle>10</cycle>
- <response>0</response>
- </schedule>
- <parameters>
- <parameter>
- <id>0</id>
- <type>double</type>
- <title>Safety Factor for calculated max. Deceleration</title>
- <unit></unit>
- <value>0.9</value>
- </parameter>
- <parameter>
- <id>1</id>
- <type>double</type>
- <title>Safety Distance</title>
- <unit>m</unit>
- <value>3.0</value>
- </parameter>
- <parameter>
- <id>2</id>
- <type>bool</type>
- <title>Consider Opponent Brake Reaction</title>
- <unit></unit>
- <value>1</value>
- </parameter>
- </parameters>
- <inputs>
- <input>
- <id>0</id>
- <type>double</type>
- <title>Agent's x-coordinate</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>1</id>
- <type>double</type>
- <title>Agent's y-coordinate</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>2</id>
- <type>double</type>
- <title>Time-to-collision</title>
- <unit>s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>3</id>
- <type>double</type>
- <title>FrictionCoeff</title>
- <unit>1</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>4</id>
- <type>double</type>
- <title>Agent's pointing direction</title>
- <unit>rad</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>5</id>
- <type>double</type>
- <title>Distance to opponent</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>6</id>
- <type>double</type>
- <title>Opponent detection direction</title>
- <unit>rad</unit>
- <cardinality>1</cardinality>
- </input>
- </inputs>
- <outputs>
- <output>
- <id>0</id>
- <type>double</type>
- <title>Time-to-brake</title>
- <unit>s</unit>
- </output>
- </outputs>
-</component>
diff --git a/gui/components/Algorithm_TimeToSteer.xml b/gui/components/Algorithm_TimeToSteer.xml
deleted file mode 100644
index 74df99ed..00000000
--- a/gui/components/Algorithm_TimeToSteer.xml
+++ /dev/null
@@ -1,119 +0,0 @@
-<component>
- <type>Algorithm</type>
- <title>Algorithm_TimeToSteer</title>
- <schedule>
- <offset>0</offset>
- <cycle>10</cycle>
- <response>0</response>
- </schedule>
- <parameters>
- <parameter>
- <id>0</id>
- <type>double</type>
- <title>Lateral Offset</title>
- <unit>m</unit>
- <value>3.5</value>
- </parameter>
- <parameter>
- <id>1</id>
- <type>double</type>
- <title>Safety Factor for calculated max. lateral Acceleration</title>
- <unit></unit>
- <value>0.8</value>
- </parameter>
- <parameter>
- <id>2</id>
- <type>double</type>
- <title>max. lateral Acceleration</title>
- <unit>m/s^2</unit>
- <value>5.0</value>
- </parameter>
- <parameter>
- <id>3</id>
- <type>double</type>
- <title>Safety Distance</title>
- <unit>m</unit>
- <value>3.0</value>
- </parameter>
- <parameter>
- <id>4</id>
- <type>bool</type>
- <title>Consider Opponent Steering Reaction</title>
- <unit></unit>
- <value>1</value>
- </parameter>
- </parameters>
- <inputs>
- <input>
- <id>0</id>
- <type>double</type>
- <title>Time-to-collision</title>
- <unit>s</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>1</id>
- <type>double</type>
- <title>Collision's x-coordinate</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>2</id>
- <type>double</type>
- <title>Collision's y-coordinate</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>3</id>
- <type>double</type>
- <title>Agent's x-coordinate</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>4</id>
- <type>double</type>
- <title>Agent's y-coordinate</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>5</id>
- <type>double</type>
- <title>FrictionCoeff</title>
- <unit>1</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>6</id>
- <type>double</type>
- <title>Agent's pointing direction</title>
- <unit>rad</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>7</id>
- <type>double</type>
- <title>Distance to opponent</title>
- <unit>m</unit>
- <cardinality>1</cardinality>
- </input>
- <input>
- <id>8</id>
- <type>double</type>
- <title>Opponent detection direction</title>
- <unit>rad</unit>
- <cardinality>1</cardinality>
- </input>
- </inputs>
- <outputs>
- <output>
- <id>0</id>
- <type>double</type>
- <title>Time-to-steer</title>
- <unit>s</unit>
- </output>
- </outputs>
-</component>
diff --git a/gui/components/Sensor_OSIAgent.xml b/gui/components/Sensor_OSIAgent.xml
deleted file mode 100644
index ab07363e..00000000
--- a/gui/components/Sensor_OSIAgent.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<component>
- <type>Sensor</type>
- <title>Sensor_OSIAgent</title>
- <schedule>
- <offset>0</offset>
- <cycle>10</cycle>
- <response>0</response>
- </schedule>
- <parameters/>
- <inputs/>
- <outputs>
- <output>
- <id>0</id>
- <type>double</type>
- <title>distanceOpp</title>
- <unit>m</unit>
- </output>
- <output>
- <id>1</id>
- <type>double</type>
- <title>velOpp</title>
- <unit>m/s</unit>
- </output>
- </outputs>
-</component>
diff --git a/gui/components/Sensor_OSIRoad.xml b/gui/components/Sensor_OSIRoad.xml
deleted file mode 100644
index 5f736d09..00000000
--- a/gui/components/Sensor_OSIRoad.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<component>
- <type>Sensor</type>
- <title>Sensor_OSIRoad</title>
- <schedule>
- <offset>0</offset>
- <cycle>0</cycle>
- <response>0</response>
- </schedule>
- <parameters/>
- <inputs/>
- <outputs>
- <output>
- <id>0</id>
- <type>Trajectory</type>
- <title>laneTrajectory</title>
- <unit></unit>
- </output>
- <output>
- <id>1</id>
- <type>double</type>
- <title>Weight</title>
- <unit>kg</unit>
- </output>
- </outputs>
-</component>
diff --git a/gui/components/Sensor_Radar.xml b/gui/components/Sensor_Radar.xml
deleted file mode 100644
index 548070b9..00000000
--- a/gui/components/Sensor_Radar.xml
+++ /dev/null
@@ -1,103 +0,0 @@
-<component>
- <type>Sensor</type>
- <title>Sensor_Radar</title>
- <schedule>
- <offset>0</offset>
- <cycle>10</cycle>
- <response>0</response>
- </schedule>
- <parameters>
- <parameter>
- <id>0</id>
- <type>double</type>
- <title>Reach</title>
- <unit>m</unit>
- <value>70</value>
- </parameter>
- <parameter>
- <id>1</id>
- <type>double</type>
- <title>Beam angle</title>
- <unit>degree</unit>
- <value>90</value>
- </parameter>
- <parameter>
- <id>2</id>
- <type>double</type>
- <title>Orientation</title>
- <unit>degree</unit>
- <value>0</value>
- </parameter>
- <parameter>
- <id>3</id>
- <type>double</type>
- <title>OffsetX</title>
- <unit>-1...+1</unit>
- <value>0</value>
- </parameter>
- <parameter>
- <id>4</id>
- <type>double</type>
- <title>OffsetY</title>
- <unit>-1...+1</unit>
- <value>0</value>
- </parameter>
- </parameters>
- <inputs/>
- <outputs>
- <output>
- <id>0</id>
- <type>double</type>
- <title>Distance</title>
- <unit>m</unit>
- </output>
- <output>
- <id>1</id>
- <type>double</type>
- <title>Detection view direction</title>
- <unit>rad</unit>
- </output>
- <output>
- <id>2</id>
- <type>double</type>
- <title>Opponent's velocity</title>
- <unit>m/s</unit>
- </output>
- <output>
- <id>3</id>
- <type>double</type>
- <title>Relative velocity</title>
- <unit>m/s</unit>
- </output>
- <output>
- <id>4</id>
- <type>double</type>
- <title>Relative acceleration</title>
- <unit>m/s^2</unit>
- </output>
- <output>
- <id>5</id>
- <type>double</type>
- <title>Time-to-collision</title>
- <unit>s</unit>
- </output>
- <output>
- <id>6</id>
- <type>bool</type>
- <title>Collision possibility</title>
- <unit></unit>
- </output>
- <output>
- <id>7</id>
- <type>bool</type>
- <title>Object detection</title>
- <unit></unit>
- </output>
- <output>
- <id>8</id>
- <type>int</type>
- <title>Object type</title>
- <unit></unit>
- </output>
- </outputs>
-</component>
diff --git a/sim/contrib/examples/PCM/components/Action_LongitudinalDriver.xml b/sim/contrib/examples/PCM/components/Action_LongitudinalDriver.xml
new file mode 100644
index 00000000..b5f8bf5f
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Action_LongitudinalDriver.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Action</type>
+ <title>ActionLongitudinalDriver</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>LongitudinalSignal</type>
+ <title>Longitudinal Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs/>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Action_SecondaryDriverTasks.xml b/sim/contrib/examples/PCM/components/Action_SecondaryDriverTasks.xml
new file mode 100644
index 00000000..6a555cab
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Action_SecondaryDriverTasks.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Action</type>
+ <title>ActionSecondaryDriverTasks</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>SecondaryDriverTasksSignal</type>
+ <title>Secondary Driver Tasks</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs/>
+</component>
diff --git a/sim/contrib/examples/PCM/components/AgentUpdater.xml b/sim/contrib/examples/PCM/components/AgentUpdater.xml
new file mode 100644
index 00000000..8eaddcb0
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/AgentUpdater.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Action</type>
+ <title>AgentUpdater</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>DynamicsSignal</type>
+ <title>Dynamics Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs/>
+</component>
diff --git a/sim/contrib/examples/PCM/components/AlgorithmAgentFollowingDriverModel.xml b/sim/contrib/examples/PCM/components/AlgorithmAgentFollowingDriverModel.xml
new file mode 100644
index 00000000..bc1f53d1
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/AlgorithmAgentFollowingDriverModel.xml
@@ -0,0 +1,83 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>AlgorithmAgentFollowingDriverModel</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>double</type>
+ <title>VelocityWish</title>
+ <unit>m/s</unit>
+ <value>15.0</value>
+ </parameter>
+ <parameter>
+ <id>1</id>
+ <type>double</type>
+ <title>Delta</title>
+ <unit></unit>
+ <value>4.0</value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>double</type>
+ <title>TGabWish</title>
+ <unit>s</unit>
+ <value>1.5</value>
+ </parameter>
+ <parameter>
+ <id>3</id>
+ <type>double</type>
+ <title>MinDistance</title>
+ <unit>m</unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <id>4</id>
+ <type>double</type>
+ <title>MaxAcceleration</title>
+ <unit>m/s^2</unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <id>5</id>
+ <type>double</type>
+ <title>MaxDeceleration</title>
+ <unit>m/s^2</unit>
+ <value>2</value>
+ </parameter>
+ </parameters>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>SensorDriverSignal</type>
+ <title>Driver Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>LateralSignal</type>
+ <title>Lateral Signal</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>1</id>
+ <type>SecondaryDriverTasksSignal</type>
+ <title>Secondary Driver Tasks</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>2</id>
+ <type>AccelerationSignal</type>
+ <title>Acceleration Signal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Algorithm_AEB.xml b/sim/contrib/examples/PCM/components/Algorithm_AEB.xml
new file mode 100644
index 00000000..a9058920
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Algorithm_AEB.xml
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>AEB</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>double</type>
+ <title>CollisionDetectionLongitudinalBoundary</title>
+ <unit>m</unit>
+ <value>4.0</value>
+ </parameter>
+ <parameter>
+ <id>1</id>
+ <type>double</type>
+ <title>CollisionDetectionLateralBoundary</title>
+ <unit>m</unit>
+ <value>1.5</value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>double</type>
+ <title>TTC</title>
+ <unit>s</unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <id>3</id>
+ <type>double</type>
+ <title>Acceleration</title>
+ <unit>m/s^2</unit>
+ <value>-3.0</value>
+ </parameter>
+ </parameters>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>SensorDataSignal</type>
+ <title>Camera</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>AccelerationSignal</type>
+ <title>Acceleration Signal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Algorithm_ECU.xml b/sim/contrib/examples/PCM/components/Algorithm_ECU.xml
new file mode 100644
index 00000000..f959064c
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Algorithm_ECU.xml
@@ -0,0 +1,48 @@
+<component>
+ <type>Algorithm</type>
+ <title>Algorithm_ECU</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>10</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters />
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>bool</type>
+ <title>collisionOccurred</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>1</id>
+ <type>bool</type>
+ <title>prio1AssistActivity</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>2</id>
+ <type>bool</type>
+ <title>prio2AssistActivity</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>3</id>
+ <type>bool</type>
+ <title>prio3AssistActivity</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>int</type>
+ <title>index</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Algorithm_Lateral.xml b/sim/contrib/examples/PCM/components/Algorithm_Lateral.xml
new file mode 100644
index 00000000..69d6d78b
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Algorithm_Lateral.xml
@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>AlgorithmLateral</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>LateralSignal</type>
+ <title>Lateral Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>100</id>
+ <type>ParametersVehicleSignal</type>
+ <title>Vehicle Parameters</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>101</id>
+ <type>SensorDriverSignal</type>
+ <title>Driver Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>SteeringSignal</type>
+ <title>Steering Signal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Algorithm_Longitudinal.xml b/sim/contrib/examples/PCM/components/Algorithm_Longitudinal.xml
new file mode 100644
index 00000000..abb1ac03
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Algorithm_Longitudinal.xml
@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>AlgorithmLongitudinal</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>AccelerationSignal</type>
+ <title>Acceleration Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>1</id>
+ <type>ParametersVehicleSignal</type>
+ <title>Vehicle Parameters</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>3</id>
+ <type>SensorDriverSignal</type>
+ <title>Driver Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>LongitudinalSignal</type>
+ <title>Longitudinal Signal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Algorithm_RouteControl.xml b/sim/contrib/examples/PCM/components/Algorithm_RouteControl.xml
new file mode 100644
index 00000000..6d538c88
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Algorithm_RouteControl.xml
@@ -0,0 +1,91 @@
+<component>
+ <type>Algorithm</type>
+ <title>Algorithm_RouteControl</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>10</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>double</type>
+ <title>Driver aggressiveness</title>
+ <unit></unit>
+ <value>1.0</value>
+ </parameter>
+ <parameter>
+ <id>1</id>
+ <type>double</type>
+ <title>Max. engine power</title>
+ <unit>W</unit>
+ <value>100000</value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>double</type>
+ <title>Min. brake torque</title>
+ <unit>Nm</unit>
+ <value>-10000</value>
+ </parameter>
+ <parameter>
+ <id>3</id>
+ <type>double</type>
+ <title>Kp of the pedals PID control</title>
+ <unit></unit>
+ <value>-0.5</value>
+ </parameter>
+ <parameter>
+ <id>4</id>
+ <type>double</type>
+ <title>Ki of the pedals PID control</title>
+ <unit></unit>
+ <value>-0.4</value>
+ </parameter>
+ <parameter>
+ <id>5</id>
+ <type>double</type>
+ <title>Kd of the pedals PID control</title>
+ <unit></unit>
+ <value>0.0</value>
+ </parameter>
+ <parameter>
+ <id>6</id>
+ <type>double</type>
+ <title>Kp of the steering PID control</title>
+ <unit></unit>
+ <value>-18.0</value>
+ </parameter>
+ <parameter>
+ <id>7</id>
+ <type>double</type>
+ <title>Ki of the steering PID control</title>
+ <unit></unit>
+ <value>-0.6</value>
+ </parameter>
+ <parameter>
+ <id>8</id>
+ <type>double</type>
+ <title>Kd of the steering PID control</title>
+ <unit></unit>
+ <value>0.0</value>
+ </parameter>
+ </parameters>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>TrajectoryEvent</type>
+ <title>Desired trajectory</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>ControlData</type>
+ <title>Control</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Algorithm_Selector.xml b/sim/contrib/examples/PCM/components/Algorithm_Selector.xml
new file mode 100644
index 00000000..856cafe6
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Algorithm_Selector.xml
@@ -0,0 +1,64 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>Algorithm_Selector</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>10</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ </parameters>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>bool</type>
+ <title>Brake Assist active</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>1</id>
+ <type>bool</type>
+ <title>Lane Assist active</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>2</id>
+ <type>bool</type>
+ <title>Evasive Steering Assist active</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>3</id>
+ <type>bool</type>
+ <title>collisionOccured</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>4</id>
+ <type>ControlData</type>
+ <title>assistControl</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>5</id>
+ <type>ControlData</type>
+ <title>driverControl</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>ControlData</type>
+ <title>Control</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Algorithm_Switch.xml b/sim/contrib/examples/PCM/components/Algorithm_Switch.xml
new file mode 100644
index 00000000..85e6a621
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Algorithm_Switch.xml
@@ -0,0 +1,55 @@
+<component>
+ <type>Algorithm</type>
+ <title>Algorithm_Switch</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>10</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters />
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>int</type>
+ <title>Index</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>1</id>
+ <type>ControlData</type>
+ <title>DriverControl</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>2</id>
+ <type>ControlData</type>
+ <title>Prio1Control</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>3</id>
+ <type>ControlData</type>
+ <title>Prio2Control</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>4</id>
+ <type>ControlData</type>
+ <title>Prio3Control</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>ControlData</type>
+ <title>Control</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Algorithm_TrajectoryFollower.xml b/sim/contrib/examples/PCM/components/Algorithm_TrajectoryFollower.xml
new file mode 100644
index 00000000..dad6cf72
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Algorithm_TrajectoryFollower.xml
@@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>Algorithm_TrajectoryFollower</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>10</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>double</type>
+ <title>TireCoefficient1</title>
+ <unit></unit>
+ <value>50.0</value>
+ </parameter>
+ <parameter>
+ <id>1</id>
+ <type>double</type>
+ <title>TireCoefficient2</title>
+ <unit></unit>
+ <value>50.0</value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>double</type>
+ <title>FrontWheelAngleLimit</title>
+ <unit></unit>
+ <value>0.44</value>
+ </parameter>
+ <parameter>
+ <id>3</id>
+ <type>double</type>
+ <title>Brake_P</title>
+ <unit></unit>
+ <value>3.7</value>
+ </parameter>
+ <parameter>
+ <id>4</id>
+ <type>double</type>
+ <title>Brake_I</title>
+ <unit></unit>
+ <value>0.005</value>
+ </parameter>
+ <parameter>
+ <id>5</id>
+ <type>double</type>
+ <title>Brake_D</title>
+ <unit></unit>
+ <value>2.0</value>
+ </parameter>
+ <parameter>
+ <id>6</id>
+ <type>double</type>
+ <title>Gas_P</title>
+ <unit></unit>
+ <value>3.4</value>
+ </parameter>
+ <parameter>
+ <id>7</id>
+ <type>double</type>
+ <title>Gas_I</title>
+ <unit></unit>
+ <value>0.05</value>
+ </parameter>
+ <parameter>
+ <id>8</id>
+ <type>double</type>
+ <title>Gas_D</title>
+ <unit></unit>
+ <value>1.0</value>
+ </parameter>
+ <parameter>
+ <id>9</id>
+ <type>double</type>
+ <title>LookAheadTime</title>
+ <unit></unit>
+ <value>0.2</value>
+ </parameter>
+ </parameters>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>double</type>
+ <title>PositionX</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>1</id>
+ <type>double</type>
+ <title>PositionY</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>2</id>
+ <type>double</type>
+ <title>YawAngle</title>
+ <unit>rad</unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>3</id>
+ <type>double</type>
+ <title>Velocity</title>
+ <unit>m/s</unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>100</id>
+ <type>Trajectory</type>
+ <title>Trajectory</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>101</id>
+ <type>double</type>
+ <title>Weight</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>102</id>
+ <type>double</type>
+ <title>Wheelbase</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>103</id>
+ <type>double</type>
+ <title>DistanceFrontAxleToCOG</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>double</type>
+ <title>Required_GasPedal</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>1</id>
+ <type>double</type>
+ <title>Required_BrakePedal</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>2</id>
+ <type>double</type>
+ <title>Required_FrontWheelAngle</title>
+ <unit>rad</unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/ComponentController.xml b/sim/contrib/examples/PCM/components/ComponentController.xml
new file mode 100644
index 00000000..720bc21c
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/ComponentController.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>ComponentController</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>AgentCompToCompCtrlSignal</type>
+ <title>AgentCompToCompCtrlSignal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>CompCtrlToAgentCompSignal</type>
+ <title>CompCtrlToAgentCompSignal</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>1</id>
+ <type>CompCtrlToDriverCompSignal</type>
+ <title>CompCtrlToDriverCompSignal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Dynamics_Chassis.xml b/sim/contrib/examples/PCM/components/Dynamics_Chassis.xml
new file mode 100644
index 00000000..f6e63940
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Dynamics_Chassis.xml
@@ -0,0 +1,42 @@
+<component>
+ <type>Action</type>
+ <title>Dynamics_Chassis</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>10</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>double</type>
+ <title>Spring coefficient</title>
+ <unit></unit>
+ <value>1200000</value>
+ </parameter>
+ <parameter>
+ <id>1</id>
+ <type>double</type>
+ <title>Damper coefficient</title>
+ <unit></unit>
+ <value>12000</value>
+ </parameter>
+ </parameters>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>VectorDouble</type>
+ <title>InertiaForce</title>
+ <unit>N</unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>VectorDouble</type>
+ <title>VerticalForce</title>
+ <unit>N</unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Dynamics_Collision.xml b/sim/contrib/examples/PCM/components/Dynamics_Collision.xml
new file mode 100644
index 00000000..f19b961a
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Dynamics_Collision.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>DynamicsCollision</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs/>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>DynamicsSignal</type>
+ <title>Dynamics Signal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Dynamics_CollisionPCM.xml b/sim/contrib/examples/PCM/components/Dynamics_CollisionPCM.xml
new file mode 100644
index 00000000..6504ed99
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Dynamics_CollisionPCM.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Action</type>
+ <title>Dynamics_CollisionPCM</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>10</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>bool</type>
+ <title>CollisionOccured</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs/>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Dynamics_CollisionPostCrash.xml b/sim/contrib/examples/PCM/components/Dynamics_CollisionPostCrash.xml
new file mode 100644
index 00000000..d5d1e518
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Dynamics_CollisionPostCrash.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>DynamicsCollisionPostCrash</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs/>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>DynamicsSignal</type>
+ <title>Dynamics Signal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Dynamics_CopyTrajectory.xml b/sim/contrib/examples/PCM/components/Dynamics_CopyTrajectory.xml
new file mode 100644
index 00000000..a41eee96
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Dynamics_CopyTrajectory.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Action</type>
+ <title>Dynamics_CopyTrajectory</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>10</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>TrajectoryEvent</type>
+ <title>Desired trajectory</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs/>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Dynamics_RegularDriving.xml b/sim/contrib/examples/PCM/components/Dynamics_RegularDriving.xml
new file mode 100644
index 00000000..5af3624a
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Dynamics_RegularDriving.xml
@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>DynamicsRegularDriving</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>LongitudinalSignal</type>
+ <title>Longitudinal Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>1</id>
+ <type>SteeringSignal</type>
+ <title>Steering Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>100</id>
+ <type>ParametersVehicleSignal</type>
+ <title>Vehicle Parameters</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>DynamicsSignal</type>
+ <title>Dynamics Signal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Dynamics_RegularTwoTrack.xml b/sim/contrib/examples/PCM/components/Dynamics_RegularTwoTrack.xml
new file mode 100644
index 00000000..37d525e4
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Dynamics_RegularTwoTrack.xml
@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>DynamicsRegularTwoTrack</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>LongitudinalSignal</type>
+ <title>Longitudinal Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>1</id>
+ <type>SteeringSignal</type>
+ <title>Steering Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>100</id>
+ <type>ParametersVehicleSignal</type>
+ <title>Vehicle Parameters</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>DynamicsSignal</type>
+ <title>Dynamics Signal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Dynamics_TrajectoryFollower.xml b/sim/contrib/examples/PCM/components/Dynamics_TrajectoryFollower.xml
new file mode 100644
index 00000000..efe49231
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Dynamics_TrajectoryFollower.xml
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>Dynamics_TrajectoryFollower</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>string</type>
+ <title>TrajectoryFile</title>
+ <unit></unit>
+ <value>Trajectory.xml</value>
+ </parameter>
+ <parameter>
+ <id>1</id>
+ <type>bool</type>
+ <title>AutomaticDeactivation</title>
+ <unit></unit>
+ <value>1</value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>bool</type>
+ <title>EnforceTrajectory</title>
+ <unit></unit>
+ <value>1</value>
+ </parameter>
+ </parameters>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>LateralSignal</type>
+ <title>Lateral Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>1</id>
+ <type>AccelerationSignal</type>
+ <title>Acceleration Signal</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>DynamicsSignal</type>
+ <title>Dynamics Signal</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>1</id>
+ <type>AgentCompToCompCtrlSignal</type>
+ <title>AgentCompToCompCtrlSignal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Dynamics_TwoTrack.xml b/sim/contrib/examples/PCM/components/Dynamics_TwoTrack.xml
new file mode 100644
index 00000000..934b55b5
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Dynamics_TwoTrack.xml
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Action</type>
+ <title>Dynamics_TwoTrack</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>10</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>double</type>
+ <title>Radius of the tires</title>
+ <unit>m</unit>
+ <value>0.3</value>
+ </parameter>
+ <parameter>
+ <id>1</id>
+ <type>double</type>
+ <title>Tire's max. mu</title>
+ <unit></unit>
+ <value>1</value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>double</type>
+ <title>Tire's slide mu</title>
+ <unit></unit>
+ <value>0.8</value>
+ </parameter>
+ <parameter>
+ <id>3</id>
+ <type>double</type>
+ <title>Tire's slip at max. mu</title>
+ <unit></unit>
+ <value>0.1</value>
+ </parameter>
+ <parameter>
+ <id>4</id>
+ <type>double</type>
+ <title>Engine power</title>
+ <unit>W</unit>
+ <value>100000</value>
+ </parameter>
+ <parameter>
+ <id>5</id>
+ <type>double</type>
+ <title>Max. brake torque</title>
+ <unit>Nm</unit>
+ <value>-10000</value>
+ </parameter>
+ </parameters>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>ControlData</type>
+ <title>Control</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>1</id>
+ <type>VectorDouble</type>
+ <title>Vertical force on tires</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>VectorDouble</type>
+ <title>Inertia force vector</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/EgoSensor.xml b/sim/contrib/examples/PCM/components/EgoSensor.xml
new file mode 100644
index 00000000..5fec10fb
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/EgoSensor.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Sensor</type>
+ <title>EgoSensor</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>10</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs/>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>double</type>
+ <title>EgoPositionX</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>1</id>
+ <type>double</type>
+ <title>EgoPositionY</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>2</id>
+ <type>double</type>
+ <title>EgoVelocityX</title>
+ <unit>m/s</unit>
+ </output>
+ <output>
+ <id>3</id>
+ <type>double</type>
+ <title>EgoVelocityY</title>
+ <unit>m/s</unit>
+ </output>
+ <output>
+ <id>4</id>
+ <type>double</type>
+ <title>EgoVelocityAbsolute</title>
+ <unit>m/s</unit>
+ </output>
+ <output>
+ <id>5</id>
+ <type>double</type>
+ <title>EgoAccelerationX</title>
+ <unit>m/s^2</unit>
+ </output>
+ <output>
+ <id>6</id>
+ <type>double</type>
+ <title>EgoAccelerationY</title>
+ <unit>m/s^2</unit>
+ </output>
+ <output>
+ <id>12</id>
+ <type>double</type>
+ <title>EgoYawAngle</title>
+ <unit>rad</unit>
+ </output>
+ <output>
+ <id>24</id>
+ <type>double</type>
+ <title>FrictionCoeff</title>
+ <unit>1</unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Init_Agent.xml b/sim/contrib/examples/PCM/components/Init_Agent.xml
new file mode 100644
index 00000000..4932b17c
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Init_Agent.xml
@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Sensor</type>
+ <title>Init_Agent</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>0</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs/>
+ <outputs>
+ <output>
+ <id>100</id>
+ <type>Trajectory</type>
+ <title>Trajectory</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>101</id>
+ <type>double</type>
+ <title>Weight</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>102</id>
+ <type>double</type>
+ <title>Wheelbase</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>103</id>
+ <type>double</type>
+ <title>DistanceFrontAxleToCOG</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>104</id>
+ <type>double</type>
+ <title>Width</title>
+ <unit>m</unit>
+ </output>
+ <output>
+ <id>105</id>
+ <type>double</type>
+ <title>Distance to COG from Leading Edge</title>
+ <unit>m</unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/OpenScenarioActions.xml b/sim/contrib/examples/PCM/components/OpenScenarioActions.xml
new file mode 100644
index 00000000..53d77def
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/OpenScenarioActions.xml
@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>OpenScenarioActions</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>TrajectoryEvent</type>
+ <title>Trajectory Event</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>1</id>
+ <type>CustomLaneChangeEvent</type>
+ <title>Custom Lane Change Event</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>2</id>
+ <type>GazeFollowerEvent</type>
+ <title>Gaze Follower Event</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>3</id>
+ <type>SpeedActionEvent</type>
+ <title>Speed Action Event</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Parameters_Vehicle.xml b/sim/contrib/examples/PCM/components/Parameters_Vehicle.xml
new file mode 100644
index 00000000..e591b6a6
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Parameters_Vehicle.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Sensor</type>
+ <title>ParametersVehicle</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs/>
+ <outputs>
+ <output>
+ <id>1</id>
+ <type>ParametersVehicleSignal</type>
+ <title>Vehicle Parameters</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/SensorFusion_OSI.xml b/sim/contrib/examples/PCM/components/SensorFusion_OSI.xml
new file mode 100644
index 00000000..426f3f3b
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/SensorFusion_OSI.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Sensor</type>
+ <title>SensorFusionOSI</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>SensorDataSignal</type>
+ <title>sensor signals</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>SensorDataSignal</type>
+ <title>Sensor Fusion Signal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/gui/components/Sensor_CameraAgent.xml b/sim/contrib/examples/PCM/components/Sensor_CameraMarks.xml
index 88c27567..579cdeac 100644
--- a/gui/components/Sensor_CameraAgent.xml
+++ b/sim/contrib/examples/PCM/components/Sensor_CameraMarks.xml
@@ -1,42 +1,21 @@
<component>
<type>Sensor</type>
- <title>Sensor_CameraAgent</title>
+ <title>Sensor_CameraMarks</title>
<schedule>
<offset>0</offset>
<cycle>10</cycle>
<response>0</response>
</schedule>
<parameters>
- <parameter>
- <id>0</id>
- <type>double</type>
- <title>Reach</title>
- <unit>m</unit>
- <value>70</value>
- </parameter>
- <parameter>
- <id>1</id>
- <type>double</type>
- <title>Beam angle</title>
- <unit>degree</unit>
- <value>90</value>
- </parameter>
- <parameter>
- <id>2</id>
- <type>double</type>
- <title>Orientation</title>
- <unit>degree</unit>
- <value>0</value>
- </parameter>
<parameter>
- <id>3</id>
+ <id>0</id>
<type>double</type>
<title>OffsetX</title>
<unit>-1...+1</unit>
<value>0</value>
</parameter>
<parameter>
- <id>4</id>
+ <id>1</id>
<type>double</type>
<title>OffsetY</title>
<unit>-1...+1</unit>
@@ -45,10 +24,28 @@
</parameters>
<inputs/>
<outputs>
- <output>
+ <output>
<id>0</id>
<type>double</type>
- <title>Visibility</title>
+ <title>Distance to mark</title>
+ <unit>m</unit>
+ </output>
+ <output>
+ <id>1</id>
+ <type>double</type>
+ <title>Mark approach velocity</title>
+ <unit>m/s</unit>
+ </output>
+ <output>
+ <id>2</id>
+ <type>int</type>
+ <title>Side of vehicle</title>
+ <unit></unit>
+ </output>
+ <output>
+ <id>3</id>
+ <type>int</type>
+ <title>Mark type</title>
<unit></unit>
</output>
</outputs>
diff --git a/sim/contrib/examples/PCM/components/Sensor_Collision.xml b/sim/contrib/examples/PCM/components/Sensor_Collision.xml
new file mode 100644
index 00000000..ae22c5fe
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Sensor_Collision.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Sensor</type>
+ <title>Sensor_Collision</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>10</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <title>penetrationTime_ms</title>
+ <unit>ms</unit>
+ <value>30</value>
+ </parameter>
+ </parameters>
+ <inputs/>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>bool</type>
+ <title>CollisionOccured</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Sensor_Driver.xml b/sim/contrib/examples/PCM/components/Sensor_Driver.xml
new file mode 100644
index 00000000..15e9e463
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Sensor_Driver.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Sensor</type>
+ <title>SensorDriver</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs/>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>SensorDriverSignal</type>
+ <title>Driver Signal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Sensor_OSI.xml b/sim/contrib/examples/PCM/components/Sensor_OSI.xml
new file mode 100644
index 00000000..c496c1a9
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Sensor_OSI.xml
@@ -0,0 +1,105 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Sensor</type>
+ <title>Geometric2D</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>double</type>
+ <title>Longitudinal</title>
+ <unit>m</unit>
+ <value></value>
+ </parameter>
+ <parameter>
+ <id>1</id>
+ <type>double</type>
+ <title>Lateral</title>
+ <unit>m</unit>
+ <value></value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>double</type>
+ <title>Height</title>
+ <unit>m</unit>
+ <value></value>
+ </parameter>
+ <parameter>
+ <id>3</id>
+ <type>double</type>
+ <title>Pitch</title>
+ <unit>rad</unit>
+ <value></value>
+ </parameter>
+ <parameter>
+ <id>4</id>
+ <type>double</type>
+ <title>Yaw</title>
+ <unit>rad</unit>
+ <value></value>
+ </parameter>
+ <parameter>
+ <id>5</id>
+ <type>double</type>
+ <title>Roll</title>
+ <unit>rad</unit>
+ <value></value>
+ </parameter>
+ <parameter>
+ <id>6</id>
+ <type>double</type>
+ <title>FailureProbability</title>
+ <unit></unit>
+ <value></value>
+ </parameter>
+ <parameter>
+ <id>7</id>
+ <type>normalDistribution</type>
+ <title>Latency</title>
+ <unit>s</unit>
+ <value>0,0,0,0</value>
+ </parameter>
+ <parameter>
+ <id>8</id>
+ <type>double</type>
+ <title>OpeningAngleH</title>
+ <unit>rad</unit>
+ <value></value>
+ </parameter>
+ <parameter>
+ <id>9</id>
+ <type>bool</type>
+ <title>EnableVisualObstruction</title>
+ <unit></unit>
+ <value></value>
+ </parameter>
+ <parameter>
+ <id>10</id>
+ <type>double</type>
+ <title>DetectionRange</title>
+ <unit>m</unit>
+ <value></value>
+ </parameter>
+ <parameter>
+ <id>11</id>
+ <type>double</type>
+ <title>RequiredPercentageOfVisibileArea</title>
+ <unit></unit>
+ <value></value>
+ </parameter>
+ </parameters>
+ <inputs/>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>SensorDataSignal</type>
+ <title>Sensor Data</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/components/Sensor_RecordState.xml b/sim/contrib/examples/PCM/components/Sensor_RecordState.xml
new file mode 100644
index 00000000..db163826
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/Sensor_RecordState.xml
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Sensor</type>
+ <title>Sensor_RecordState</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters/>
+ <inputs/>
+ <outputs/>
+</component>
diff --git a/sim/contrib/examples/PCM/components/SignalPrioritizer.xml b/sim/contrib/examples/PCM/components/SignalPrioritizer.xml
new file mode 100644
index 00000000..0ca3f4da
--- /dev/null
+++ b/sim/contrib/examples/PCM/components/SignalPrioritizer.xml
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<component>
+ <type>Algorithm</type>
+ <title>SignalPrioritizer</title>
+ <schedule>
+ <offset>0</offset>
+ <cycle>1</cycle>
+ <response>0</response>
+ </schedule>
+ <parameters>
+ <parameter>
+ <id>0</id>
+ <type>int</type>
+ <title>Priority Input 1</title>
+ <unit></unit>
+ <value>1</value>
+ </parameter>
+ <parameter>
+ <id>1</id>
+ <type>int</type>
+ <title>Priority Input 2</title>
+ <unit></unit>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>int</type>
+ <title>Priority Input 3</title>
+ <unit></unit>
+ <value>3</value>
+ </parameter>
+ <parameter>
+ <id>3</id>
+ <type>int</type>
+ <title>Priority Input 4</title>
+ <unit></unit>
+ <value>4</value>
+ </parameter>
+ </parameters>
+ <inputs>
+ <input>
+ <id>0</id>
+ <type>any</type>
+ <title>Input 1</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>1</id>
+ <type>any</type>
+ <title>Input 2</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>2</id>
+ <type>any</type>
+ <title>Input 3</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ <input>
+ <id>3</id>
+ <type>any</type>
+ <title>Input 4</title>
+ <unit></unit>
+ <cardinality>1</cardinality>
+ </input>
+ </inputs>
+ <outputs>
+ <output>
+ <id>0</id>
+ <type>any</type>
+ <title>Prioritized Signal</title>
+ <unit></unit>
+ </output>
+ </outputs>
+</component>
diff --git a/sim/contrib/examples/PCM/masterConfig.xml b/sim/contrib/examples/PCM/masterConfig.xml
new file mode 100644
index 00000000..5411033b
--- /dev/null
+++ b/sim/contrib/examples/PCM/masterConfig.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<masterConfig>
+ <logLevel>2</logLevel>
+ <logFileMaster>OpenPassMaster.log</logFileMaster>
+ <slave>OpenPassSlave.exe</slave>
+ <libraries>./lib</libraries>
+ <slaveConfigs>
+ <slaveConfig>
+ <configurations>result_pcm/1000232/0-0-0/Default/configs</configurations>
+ <logFileSlave>result_pcm/1000232/0-0-0/Default/OpenPassSlave.log</logFileSlave>
+ <results>result_pcm/1000232/0-0-0/Default/results</results>
+ </slaveConfig>
+ </slaveConfigs>
+</masterConfig>
diff --git a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/ProfilesCatalog.xml b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/ProfilesCatalog.xml
index 8f4fc2cf..8f4fc2cf 100644
--- a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/ProfilesCatalog.xml
+++ b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/ProfilesCatalog.xml
diff --git a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/Scenario.xosc b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/Scenario.xosc
index 6e78a861..6e78a861 100644
--- a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/Scenario.xosc
+++ b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/Scenario.xosc
diff --git a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/SceneryConfiguration.xodr b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/SceneryConfiguration.xodr
index bc5a944d..bc5a944d 100644
--- a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/SceneryConfiguration.xodr
+++ b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/SceneryConfiguration.xodr
diff --git a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/SystemConfig.xml b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/SystemConfig.xml
index 8acf6ec5..8acf6ec5 100644
--- a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/SystemConfig.xml
+++ b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/SystemConfig.xml
diff --git a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/VehicleModelsCatalog.xosc b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/VehicleModelsCatalog.xosc
index 916aaf18..916aaf18 100644
--- a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/VehicleModelsCatalog.xosc
+++ b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/VehicleModelsCatalog.xosc
diff --git a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/sceneryConfiguration.xml b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/sceneryConfiguration.xml
index ed540cce..ed540cce 100644
--- a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/sceneryConfiguration.xml
+++ b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/sceneryConfiguration.xml
diff --git a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/slaveConfig.xml b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/slaveConfig.xml
index cb9570db..cb9570db 100644
--- a/sim/contrib/examples/PCM/1000232/0-0-0/Default/configs/slaveConfig.xml
+++ b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/configs/slaveConfig.xml
diff --git a/sim/contrib/examples/PCM/1000232/0-0-0/Default/results/Cyclics_Run_000.csv b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/results/Cyclics_Run_000.csv
index d985cb4d..d985cb4d 100644
--- a/sim/contrib/examples/PCM/1000232/0-0-0/Default/results/Cyclics_Run_000.csv
+++ b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/results/Cyclics_Run_000.csv
diff --git a/sim/contrib/examples/PCM/1000232/0-0-0/Default/results/simulationOutput.xml b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/results/simulationOutput.xml
index 4c7ef019..4c7ef019 100644
--- a/sim/contrib/examples/PCM/1000232/0-0-0/Default/results/simulationOutput.xml
+++ b/sim/contrib/examples/PCM/result_pcm/1000232/0-0-0/Default/results/simulationOutput.xml

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