Emil Knabe

I assume the trajectory has [followingMode](https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/FollowingMode.html) = `follow`. For this mode unfortunately you found a bug, there is no parameter to handle stand still phases in a trajectory. The ambition...

Heading angles should be used in this case. And it's correct to specify heading in radians. So it seems you do all the right way. Please provide the scenario and...

Thanks for reporting this issue. The TTC condition has no filter for lanes and driving directions. One potential solution is to combine the TTC condition with a RelativeDistanceCondition, checking the...

Bugfix, mentioned above, included in release [v2.31.10](https://github.com/esmini/esmini/releases/tag/v2.31.10).

This is unfortunately not possible using [VariableSetAction](https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/VariableSetAction.html). It's only intended to be used for triggers via [VariableCondition](https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/VariableCondition.html), see [User guide - 6.12. Variables](https://www.asam.net/index.php?eID=dumpFile&t=f&f=4908&token=ae9d9b44ab9257e817072a653b5d5e98ee0babf8#_variables) where it says: _"Variables can only be...

1. Speed is indeed specified in SI unit m/s, just like defined in OpenSCENARIO standard, see section Units in [User Guide - Conventions and notations](https://www.asam.net/index.php?eID=dumpFile&t=f&f=4908&token=ae9d9b44ab9257e817072a653b5d5e98ee0babf8#_conventions_and_notations). However it's easy to convert...

Good, then we're on the same understanding. To summarize: - OpenSCENARIO (and esmini) use case of variables is limited to trig conditions - There is currently no support to inject...

Assuming that [Frenet coordinate system](https://selfdriving5.github.io/udacity/Self-Driving%20Car%20Engineer%20v5.0.0(us)/Part%2002-Module%2002-Lesson%2002_Prediction/08.%20Frenet%20Coordinates.html) is same as OpenSCENARIO/[OpenDRIVE road coordinate system](https://www.asam.net/index.php?eID=dumpFile&t=f&f=4422&token=e590561f3c39aa2260e5442e29e93f6693d1cccd#top-96081c3c-a91d-4fd8-9755-dd0eacee6ebb): Yes, it's very possible to convert between road and Cartesian systems. The question is similar to #437 -...

1. There is an example of how to link esmini static lib: [code-examples/hello_world_static](https://github.com/esmini/esmini/tree/master/EnvironmentSimulator/code-examples/hello_world_static) The esminiLib.a includes esmini modules, but not external/3rd party modules. These are linked explicitly, see cmake recipe...

I assume that you don't have any 3D models available, instead they should be generated. In that case I think answer from @mander76 is the way to go. I don't...