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chore: Update Longitudinal_control.md with additional details for requestSpeedChange API
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‎docs/developer_guide/Longitudinal_control.md‎

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@@ -28,19 +28,20 @@ Set functions directly changes the speed, acceleration, or deceleration of the e
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### requestSpeedChange
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By using `API::requestSpeedChange`, you can change the speed of the entity.
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MiscObjectEntity can not be controlled by this API.
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For EgoEntity, speed can only be changed before the simulation starts.
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API takes several types of value sets. Description of each type is as follows.
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#### Values
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| Value | Type | Description |
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| ------------ | ------ | -------------------------------------------------------------- |
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| name | string | Name of the entity. |
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| target_speed | double | Target speed of the entity. |
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| continuous | bool | If true the entity will keep the speed until the next command. |
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#### EgoEntity
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`target_speed` will be set as initial target speed of the EgoEntity only before the scenario starts.
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#### Other entity
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The function will change entities `target_speed` to given immediately.
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If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the entity will keep the speed until the next longitudinal control command ordered. It will accelerate on maximum acceleration rate set previously.
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#### Values
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| Value | Type | Description |
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| ------------ | ------------------------ | -------------------------------------------------------------- |
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| name | string | Name of the entity. |
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| constraint | speed_change::Constraint | Constraint type. |
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| continuous | bool | If true the entity will keep the speed until the next command. |
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#### EgoEntity
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`target_speed` will be set as initial target speed of the EgoEntity only before the scenario starts.
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#### Other entity
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If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the entity will keep the speed until the next longitudinal control command ordered.
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##### Longitudinal Acceleration
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B -- NONE ---> O[[ChangeTargetSpeed]];
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```
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#### Values
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By using `speed_change::RelativeTargetSpeed` you can set the target speed of the entity relative to another entity.
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| Value | Type | Description |
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| ------------ | --------------------------------- | -------------------------------------------------------------- |
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| name | string | Name of the entity. |
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| target_speed | speed_change::RelativeTargetSpeed | Relative target speed. |
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| continuous | bool | If true the entity will keep the speed until the next command. |
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If `continuous` is set to `false`, job to accelerate to target speed will be deleted after the velocity has reached the target speed. If set to `true`, the entity will keep the speed until the next longitudinal control command ordered.
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`target_speed.reference_entity_name` is the name of the entity that the target speed is relative to. The target speed of the entity will be same as the target speed of the reference entity.
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- By setting `target_speed.type` to `DELTA`, you can set the target speed of the entity to be the target speed of the reference entity plus the value of `target_speed.value`.
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- By setting `target_speed.type` to `FACTOR`, you can set the target speed of the entity to be the target speed of the reference entity multiplied by the value of `target_speed.value`.
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#### Values
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By using `speed_change::RelativeTargetSpeed` you can set the target speed of the entity relative to another entity.
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| Value | Type | Description |
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| ------------ | --------------------------------- | -------------------------------------------------------------- |
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| name | string | Name of the entity. |
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| target_speed | speed_change::RelativeTargetSpeed | Relative target speed. |
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| transition | speed_change::Transition | Transition type. |
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| constraint | speed_change::Constraint | Constraint type. |
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| continuous | bool | If true the entity will keep the speed until the next command. |
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It works the same as explained before.
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### requestSynchronize
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By using `API::requestSynchronize`, you can request the entity to adjust speed to stop at the designated lanelet by the time target entity crosses the another designated lanelet.
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| target_speed | Target speed for controlling entity (meter per second). |
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| tolerance | Tolerance for how much margin to accept to stop at the target (meter). |
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![requestSynchronize](images/Longitudinal_control/synchronizedAction.png)
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As shown in the image, the entity will adjust it's speed to `target_speed` on `entity_target` at the time the target entity crosses the `target_sync_pose`. `tolerance` is the margin of error for the entity to stop at the `entity_target`. The target entity could be set by giving the name of the entity as `target_name`.
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### setLinearVelocity
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By using `API::setLinearVelocity`, you can set the linear velocity of the entity.
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By using `API::setLinearVelocity`, you can set the linear velocity of the entity immediately. It will ignore the physics of the entity and set the value directly.
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| Value | Type | Description |
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| --------------- | ------ | ------------------------------ |
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| name | string | Name of the entity. |
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| linear_velocity | double | Linear velocity of the entity. |
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### setTwist
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By using `API::setTwist`, you can set the twist of the entity.
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By using `API::setTwist`, you can set the twist of the entity immediately. It will ignore the physics of the entity and set the value directly.
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| Value | Type | Description |
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| ----- | ------------------------- | -------------------- |
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### setAcceleration
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By using `API::setAcceleration`, you can set the acceleration of the entity.
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By using `API::setAcceleration`, you can set the acceleration of the entity immediately. It will ignore the physics of the entity and set the value directly.
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| Value | Type | Description |
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| ------------ | ------------------------- | --------------------------- |
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### setAccelerationLimit
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By using `API::setAccelerationLimit`, you can set the acceleration limit of the entity.
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By using `API::setAccelerationLimit`, you can set the acceleration limit of the entity immediately.
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| Value | Type | Description |
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| ------------ | ------ | --------------------------------- |
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### setAccelerationRateLimit
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By using `API::setAccelerationRateLimit`, you can set the acceleration rate limit of the entity.
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By using `API::setAccelerationRateLimit`, you can set the acceleration rate limit of the entity immediately.
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| Value | Type | Description |
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| ----------------- | ------ | -------------------------------------- |
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### setDecelerationLimit
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By using `API::setDecelerationLimit`, you can set the deceleration limit of the entity.
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By using `API::setDecelerationLimit`, you can set the deceleration limit of the entity immediately.
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| Value | Type | Description |
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| ------------ | ------ | --------------------------------- |
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### setDecelerationRateLimit
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By using `API::setDecelerationRateLimit`, you can set the deceleration rate limit of the entity.
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By using `API::setDecelerationRateLimit`, you can set the deceleration rate limit of the entity immediately.
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| Value | Type | Description |
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| ----------------- | ------ | -------------------------------------- |
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### setVelocityLimit
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By using `API::setVelocityLimit`, you can set the velocity limit of the entity.
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By using `API::setVelocityLimit`, you can set the velocity limit of the entity immediately.
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| Value | Type | Description |
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| --------------- | ------ | ----------------------------- |

‎docs/developer_guide/images/Longitudinal_control/requestSpeedChange.png‎

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‎docs/developer_guide/images/Longitudinal_control/synchronizedAction.png‎

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