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Update docs/developer_guide/lane_pose_calculation/Spawn.md
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Co-authored-by: Kotaro Yoshimoto <[email protected]>
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hakuturu583 and HansRobo authored Feb 19, 2024
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Expand Up @@ -6,8 +6,8 @@ In the OpenSCENARIO , it is to execute a TeleportAction by specifying the LanePo

If you spawn 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 executed.

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),
but 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).
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).

In this function, the following procedure is used to calculate the pose in the lane coordinate system.

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