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‎docs/developer_guide/Longitudinal_control.md‎

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# Longitudinal Control
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traffic_simulator has various ways to control the longitudinal behavior of the npc.
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## List of Longitudinal Controllers
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| Name | Description |
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| --------------------------------------------------------- | -------------------------------------------- |
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| [**requestSpeedChange**](#requestSpeedChange) | Changes the speed of the npc. |
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| [**requestSynchronize**](#requestSynchronize) | Synchronizes the npc with the target entity. |
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| [**setLinearVelocity**](#setLinearVelocity) | Sets the linear velocity of the npc. |
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| [**setTwist**](#setTwist) | Sets the twist of the npc. |
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| [**setAcceleration**](#setAcceleration) | Sets the acceleration of the npc. |
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| [**setAccelerationLimit**](#setAccelerationLimit) | Sets the acceleration limit of the npc. |
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| [**setAccelerationRateLimit**](#setAccelerationRateLimit) | Sets the acceleration rate limit of the npc. |
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| [**setDecelerationLimit**](#setDecelerationLimit) | Sets the deceleration limit of the npc. |
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| [**setDecelerationRateLimit**](#setDecelerationRateLimit) | Sets the deceleration rate limit of the npc. |
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| [**setVelocityLimit**](#setVelocityLimit) | Sets the velocity limit of the npc. |
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## Details
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### requestSpeedChange
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By using `API::requestSpeedChange`, you can change the speed of the npc.
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| Value | Type | Description |
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| ------------ | ------ | ----------------------------------------------------------- |
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| name | string | Name of the npc. |
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| target_speed | double | Target speed of the npc. |
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| continuous | bool | If true the npc will keep the speed until the next command. |
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| Value | Type | Description |
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| ------------ | ------------------------ | ----------------------------------------------------------- |
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| name | string | Name of the npc. |
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| target_speed | double | Target speed of the npc. |
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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 npc will keep the speed until the next command. |
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| Value | Type | Description |
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| ------------ | --------------------------------- | ----------------------------------------------------------- |
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| name | string | Name of the npc. |
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| target_speed | speed_change::RelativeTargetSpeed | Relative target speed. |
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| continuous | bool | If true the npc will keep the speed until the next command. |
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| Value | Type | Description |
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| ------------ | --------------------------------- | ----------------------------------------------------------- |
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| name | string | Name of the npc. |
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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 npc will keep the speed until the next command. |
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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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| Value | Description |
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| ---------------- | ---------------------------------------------------------------------- |
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| name | Name of the npc. |
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| target_name | Name of the target entity. |
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| target_sync_pose | Target lanelet pose for target entity. |
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| entity_target | Target lanelet pose for controlling entity. |
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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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### setLinearVelocity
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By using `API::setLinearVelocity`, you can set the linear velocity of the npc.
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| Value | Type | Description |
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| --------------- | ------ | --------------------------- |
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| name | string | Name of the npc. |
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| linear_velocity | double | Linear velocity of the npc. |
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### setTwist
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By using `API::setTwist`, you can set the twist of the npc.
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| Value | Type | Description |
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| ----- | ------------------------- | ----------------- |
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| name | string | Name of the npc. |
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| twist | geometry_msgs::msg::Twist | Twist of the npc. |
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### setAcceleration
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By using `API::setAcceleration`, you can set the acceleration of the npc.
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| Value | Type | Description |
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| ------------ | ------------------------- | ------------------------ |
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| name | string | Name of the npc. |
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| acceleration | geometry_msgs::msg::Accel | Acceleration of the npc. |
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### setAccelerationLimit
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By using `API::setAccelerationLimit`, you can set the acceleration limit of the npc.
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| Value | Type | Description |
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| ------------ | ------ | ------------------------------ |
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| name | string | Name of the npc. |
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| acceleration | double | Acceleration limit of the npc. |
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### setAccelerationRateLimit
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By using `API::setAccelerationRateLimit`, you can set the acceleration rate limit of the npc.
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| Value | Type | Description |
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| ----------------- | ------ | ----------------------------------- |
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| name | string | Name of the npc. |
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| acceleration_rate | double | Acceleration rate limit of the npc. |
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### setDecelerationLimit
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By using `API::setDecelerationLimit`, you can set the deceleration limit of the npc.
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| Value | Type | Description |
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| ------------ | ------ | ------------------------------ |
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| name | string | Name of the npc. |
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| deceleration | double | Deceleration limit of the npc. |
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### setDecelerationRateLimit
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By using `API::setDecelerationRateLimit`, you can set the deceleration rate limit of the npc.
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| Value | Type | Description |
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| ----------------- | ------ | ----------------------------------- |
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| name | string | Name of the npc. |
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| deceleration_rate | double | Deceleration rate limit of the npc. |
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### setVelocityLimit
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By using `API::setVelocityLimit`, you can set the velocity limit of the npc.
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| Value | Type | Description |
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| --------------- | ------ | -------------------------- |
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| name | string | Name of the npc. |
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| lenear_velocity | double | Velocity limit of the npc. |
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