pose_3d

• 定义：三维空间的复合位置，包含位置点（odr_point或position_3d或road_point）和方向（orientation_3d）两个参数
• 用途：设置实体的初始位置（assign_init_speed动作）、目标位置（acquire_position动作）
• 参数：参数如下表.

• xyz_point、odr_point和road_point必须设置且仅设置一个，用以提供位置信息.
• orientation非必选项，当不设置orientation时，对应roll、pitch、yaw均为0时的方向

使用xyz_point、设置orientation

my_xyz: xyz_point = map.create_xyz_point(x: 150.0m, y: 200.0m ,z: 0.0m)
m_orientation: orientation_3d with:
    keep(it.roll == 0.0rad)
    keep(it.pitch == 0.0rad)        
    keep(it.yaw == 1.57rad)
my_pose: pose_3d with:
    keep(it.xyz_point == my_xyz)
    keep(it.orientation == m_orientation)

使用odr_point、不设置orientation

my_odr: odr_point = map.create_odr_point(road_id: '1',lane_id:'-2',s: 3.0m, t: 0.0m)
my_pose: pose_3d with:
    keep(it.odr_point == my_odr)

使用road_point、不设置orientation

my_road: road_point with
    keep(it.road_id == '1')
    keep(it.s == 5.0m)
    keep(it.t == 0.0m)
my_pose: pose_3d with:
    keep(it.road_point == my_road)