Fix requestSpeedChange sets target_speed only when it's reached

[gmajrobotec]

Description

Abstract

The statement target_speed_ = target_speed.getAbsoluteValue(getCanonicalizedStatus(), other_status_); in firs example sets the target speed only in cases where the target speed has already been reached, which seems counter intuitive. This statement’s position is inconsistent with second example.

scenario_simulator_v2/simulation/traffic_simulator/src/entity/entity_base.cpp

Lines 471 to 480 in b931744

	[this, target_speed](double) {
	if (other_status_.find(target_speed.reference_entity_name) == other_status_.end()) {
	return true;
	}
	if (isTargetSpeedReached(target_speed)) {
	target_speed_ = target_speed.getAbsoluteValue(getCanonicalizedStatus(), other_status_);
	return true;
	}
	return false;
	},

scenario_simulator_v2/simulation/traffic_simulator/src/entity/entity_base.cpp

Lines 458 to 464 in b931744

	[this, target_speed](double) {
	if (other_status_.find(target_speed.reference_entity_name) == other_status_.end()) {
	return true;
	}
	target_speed_ = target_speed.getAbsoluteValue(getCanonicalizedStatus(), other_status_);
	return false;
	},

Details

Described statement is moved down, outside of the “if” statement. This way the most up to date target speed will be set on each iteration until the target speed is reached. This is consistent with continuous case.

References

Jira ticket: internal link

Destructive Changes

There are no destructive changes.

[robomic]

Use permalinks when referring to code.
Are you able to come up with a test case for this particular change?