<?xml version='1.0' encoding='UTF-8'?>
<OpenSCENARIO>
  <FileHeader revMajor="1" revMinor="1" date="2020-06-26T00:17:00" description="ObjectOfTypeRoadMark" author="BMW AG"/>
  <ParameterDeclarations>
    <ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
  </ParameterDeclarations>
  <CatalogLocations>
    <VehicleCatalog>
      <Directory path="Vehicles"/>
    </VehicleCatalog>
    <PedestrianCatalog>
      <Directory path="Vehicles"/>
    </PedestrianCatalog>
    <ControllerCatalog>
      <Directory path=""/>
    </ControllerCatalog>
    <ManeuverCatalog>
      <Directory path=""/>
    </ManeuverCatalog>
    <MiscObjectCatalog>
      <Directory path=""/>
    </MiscObjectCatalog>
    <EnvironmentCatalog>
      <Directory path=""/>
    </EnvironmentCatalog>
    <TrajectoryCatalog>
      <Directory path=""/>
    </TrajectoryCatalog>
    <RouteCatalog>
      <Directory path=""/>
    </RouteCatalog>
  </CatalogLocations>
  <RoadNetwork>
    <LogicFile filepath="SceneryConfiguration.xodr"/>
    <SceneGraphFile filepath=""/>
  </RoadNetwork>
  <Entities>
    <ScenarioObject name="Ego">
      <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
      <ObjectController>
        <Controller name="Ego">
          <Properties>
            <Property name="AgentProfile" value="TFAgent"/>
          </Properties>
        </Controller>
      </ObjectController>
    </ScenarioObject>
  </Entities>
  <Storyboard>
    <Init>
      <Actions>
        <Private entityRef="Ego">
          <PrivateAction>
            <TeleportAction>
              <Position>
                <LanePosition roadId="1" laneId="-2" offset="0.0" s="0.0">
                  <Orientation type="relative"/>
                </LanePosition>
              </Position>
            </TeleportAction>
          </PrivateAction>
          <PrivateAction>
            <LongitudinalAction>
              <SpeedAction>
                <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
                <SpeedActionTarget>
                  <AbsoluteTargetSpeed value="35.0"/>
                </SpeedActionTarget>
              </SpeedAction>
            </LongitudinalAction>
          </PrivateAction>
          <PrivateAction>
            <ControllerAction>
              <ActivateControllerAction lateral="true" longitudinal="true" controllerRef="Ego"/>
            </ControllerAction>
          </PrivateAction>
        </Private>
      </Actions>
    </Init>
    <Story name="Trajectory">
      <Act name="Act1">
        <ManeuverGroup maximumExecutionCount="1" name="StateChangeSequenceA">
          <Actors selectTriggeringEntities="false">
            <EntityRef entityRef="Ego"/>
          </Actors>
          <Maneuver name="StateChangeManeuverA">
            <Event name="StateChangeEventA" priority="override">
              <Action name="Trajectory">
                <PrivateAction>
                  <RoutingAction>
                    <FollowTrajectoryAction>
                      <TrajectoryRef>
                        <Trajectory name="" closed="false">
                          <Shape>
                            <Polyline>
                              <Vertex time="0.0">
                                <Position>
                                  <WorldPosition x="0.0" y="1.875" h="0.0"/>
                                </Position>
                              </Vertex>
                              <Vertex time="5.0">
                                <Position>
                                  <WorldPosition x="40.0" y="1.875" h="0.0"/>
                                </Position>
                              </Vertex>
                            </Polyline>
                          </Shape>
                        </Trajectory>
                      </TrajectoryRef>
                      <TimeReference>
                        <None/>
                      </TimeReference>
                      <TrajectoryFollowingMode followingMode="position"/>
                    </FollowTrajectoryAction>
                  </RoutingAction>
                </PrivateAction>
              </Action>
              <StartTrigger>
                <ConditionGroup>
                  <Condition name="Conditional" delay="0" conditionEdge="rising">
                    <ByValueCondition>
                      <SimulationTimeCondition value="-1.0" rule="greaterThan"/>
                    </ByValueCondition>
                  </Condition>
                </ConditionGroup>
              </StartTrigger>
            </Event>
          </Maneuver>
        </ManeuverGroup>
        <StartTrigger>
          <ConditionGroup>
            <Condition name="StartTime" delay="0" conditionEdge="rising">
              <ByValueCondition>
                <SimulationTimeCondition value="0.0" rule="greaterOrEqual"/>
              </ByValueCondition>
            </Condition>
          </ConditionGroup>
        </StartTrigger>
      </Act>
    </Story>
    <StopTrigger>
      <ConditionGroup>
        <Condition name="EndTime" delay="0" conditionEdge="rising">
          <ByValueCondition>
            <SimulationTimeCondition value="5.0" rule="greaterThan"/>
          </ByValueCondition>
        </Condition>
      </ConditionGroup>
    </StopTrigger>
  </Storyboard>
</OpenSCENARIO>
