Fix/time contrained acceleration

[piotr-zyskowski-rai]

Description

This PR fixes behavior of time-constrained SpeedAction like the one below:

SpeedAction:
 SpeedActionDynamics:
   dynamicsDimension: time
   value: 2.0
   dynamicsShape: linear
 SpeedActionTarget:
   AbsoluteTargetSpeed:
     value: 2.0

Abstract

Time-constrained SpeedAction was not working properly because the conversion from the openscenario_interpreter::syntax::DynamicDimension type was not converted properly to the traffic_simulator::speed_change::Constraint type which is used deeper in the traffic_simulator.

This PR corrects conversion between openscenario_interpreter::syntax::DynamicDimension to traffic_simulator::speed_change::Constraint and solves the issue.

Background

This issue was found during scenario development for the scenario_simulator_v2_scenarios repository. This is one of the failing scenarios.

It was found that the acceleration is incorrect when the vehicle's speed is changed. The scenario expects acceleration of 1m/s^2 but has 2m/s^2.

Destructive Changes

The change might change entity behavior if it uses time-based constraints to alter its speed.

SpeedAction:
 SpeedActionDynamics:
   dynamicsDimension: time
   value: 2.0
   dynamicsShape: linear
 SpeedActionTarget:
   AbsoluteTargetSpeed:
     value: 2.0

Before the change, the code would accelerate the entity by 2.0 m/s2 until it reached 2 m/s. After the change, the vehicle would correctly accelerate 1 m/s2 for 2 s to reach 2 m/s.

If the scenario is tuned to work with time-based constrained SpeedAction working incorrectly, when SpeedAction starts working correctly the scenario will behave differently and might fail.

[github-actions]

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