diff --git a/docs/developer_guide/lane_pose_calculation/Spawn.md b/docs/developer_guide/lane_pose_calculation/Spawn.md index 9c0c3ebe105..cf1a805a94e 100644 --- a/docs/developer_guide/lane_pose_calculation/Spawn.md +++ b/docs/developer_guide/lane_pose_calculation/Spawn.md @@ -4,7 +4,7 @@ If you spawn entities by specifying the lane coordinate system, lane pose calcul Internally, spawning entities by specifying the lane coordinate system means specifying LaneletPose as the argument pose of the [API::spawn function](https://tier4.github.io/scenario_simulator_v2-api-docs/classtraffic__simulator_1_1API.html). In the OpenSCENARIO, it is to execute a TeleportAction by specifying the LanePosition. ([e.g](https://github.com/tier4/scenario_simulator_v2/blob/9f03394f80e5de05cf087db3d00c7be73d27e963/test_runner/scenario_test_runner/)) -If you spawn entities by specifying the map coordinate system, [lane pose calculation](https://github.com/tier4/scenario_simulator_v2/blob/9f03394f80e5de05cf087db3d00c7be73d27e963/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp#L521-L529) is performed. +If you spawn entities by specifying in the map coordinate system, [lane pose calculation](https://github.com/tier4/scenario_simulator_v2/blob/9f03394f80e5de05cf087db3d00c7be73d27e963/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp#L521-L529) is performed. There are several internal implementations of pose calculation in the lane coordinate system implemented in the [HDmapUtils class](https://tier4.github.io/scenario_simulator_v2-api-docs/classhdmap__utils_1_1HdMapUtils.html). The one used in this case is [here](https://github.com/tier4/scenario_simulator_v2/blob/9f03394f80e5de05cf087db3d00c7be73d27e963/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp#L602-L630).