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<title>esmini user guide – esmini lib programming</title>
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<li><a href="#_esmini_lib_programming">esmini lib programming</a>
<ul class="sectlevel2">
<li><a href="#_about_the_lib_itself">About the lib itself</a></li>
<li><a href="#_how_to_interact_with_esmini_lib_api">How to interact with esmini lib API</a></li>
<li><a href="#_functionality">Functionality</a></li>
<li><a href="#_simplest_example">Simplest example</a></li>
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</ul>
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<div class="sect1">
<h2 id="_esmini_lib_programming">esmini lib programming</h2>
<div class="sectionbody">
<!-- toc disabled -->
<div class="sect2">
<h3 id="_about_the_lib_itself">About the lib itself</h3>
<div class="paragraph">
<p>The main idea with esmini lib is to provide a limited, simplifed but useful API to the complex world of esmini, OpenSCENARIO and traffic simulation. By making use of only standard C types it has been possible to wrap and use the library in numerous environments, like for example MATLAB, Simulink and Unity (C#).</p>
</div>
<div class="paragraph">
<p>esmini lib is a, so called, shared library which is linked dynamically with a custom application. This means that it’s not linked statically with the application, instead it’s loaded whenever the application is launched. An obvious advantage with shared libraries is that they can be shared between multiple applications, reducing size and potentially simplify maintenance.</p>
</div>
<div class="paragraph">
<p>An additional important advantage with dynamic linking is that the library can be updated without need to recompile the custom application making use of the library (however it can’t be updated during runtime, only in between launches). An obvious requirement is that the API is compatible when replacing a library with a different version, since the API is established at link-time. On the other side of the "same coin", a disadvantage with dynamic linking is that you need to have the shared library present at run-time.</p>
</div>
<div class="paragraph">
<p>Although esmini lib is a shared library itself, it includes everything needed in terms of 3rd party functionality. It’s actally linking all dependencies statically. Think about it as a single container including everything needed, e.g. support for 3D graphics, XML, expressions, and SUMO traffic simulation. There are two advantages with this approach: 1. Getting rid of dependency to hundreds of 3rd party shared libraries and 2. The linker makes sure to only include relevant functions which reduce the size by extreme (compared to bundle individual and complete shared libraries).</p>
</div>
<div class="exampleblock">
<div class="content">
<div class="paragraph">
<p><strong>Note:</strong> esmini utilizes, in accordance with C++ standard, default values on some function parameters in the API. Those default values will work at least in any C++ context. For other environments like pure C, C# or Python it might be required to explicitly supply argument values.</p>
</div>
</div>
</div>
</div>
<div class="sect2">
<h3 id="_how_to_interact_with_esmini_lib_api">How to interact with esmini lib API</h3>
<div class="paragraph">
<p>Below is a typical interaction between a custom application (e.g. vehicle simulator) and esmini (providing simulation of the environment, like road and traffic).</p>
</div>
<table class="tableblock frame-all grid-all stretch">
<colgroup>
<col style="width: 14.2857%;">
<col style="width: 7.1428%;">
<col style="width: 35.7142%;">
<col style="width: 7.1428%;">
<col style="width: 35.7145%;">
</colgroup>
<thead>
<tr>
<th class="tableblock halign-left valign-top">Frame</th>
<th class="tableblock halign-left valign-top">app time</th>
<th class="tableblock halign-left valign-top">app events</th>
<th class="tableblock halign-left valign-top">esmini time</th>
<th class="tableblock halign-left valign-top">esmini events</th>
</tr>
</thead>
<tbody>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">0 (t=0.0)</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Init esmini("scenario.xosc") ⇒</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Step(dt=0.0)</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>start init actions</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>step default controller (establish initial positions and speed)</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>evaluate triggers & start triggered actions</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>save to dat, send OSI</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>Draw()</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Get Ego state (initial position, speed…​) ⇒</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">⇐ Return Ego initial state</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">1 (t=0.0→0.1)</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Update Ego(dt=0.1)</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>Do internal stuff, like vehicle dynamics</p>
</li>
</ul>
</div></div></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Report Ego state(state) ⇒</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Update state of Ego, protect it from default controller</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Step esmini(dt=0.1) ⇒</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.0</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Step(dt=0.1)</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>update simulation time</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>update actions</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>step default controller (move entities, except Ego)</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>evaluate triggers & start triggered actions</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>save to dat, send OSI</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>Draw()</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">2 (t=0.1→0.2)</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Update Ego(dt=0.1)</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>Do internal stuff, like vehicle dynamics</p>
</li>
</ul>
</div></div></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Report Ego state(state) ⇒</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Update state of Ego, protect it from default controller</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Step esmini(dt=0.1) ⇒</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.1</p></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">Step(dt=0.1)</p></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>update simulation time</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>update actions</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>step default controller (move entities, except Ego)</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>evaluate triggers & start triggered actions</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>save to dat, send OSI</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"><p class="tableblock">0.2</p></td>
<td class="tableblock halign-left valign-top"><div class="content"><div class="ulist">
<ul>
<li>
<p>Draw()</p>
</li>
</ul>
</div></div></td>
</tr>
<tr>
<td class="tableblock halign-left valign-top"><p class="tableblock">and so on…​</p></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"></td>
<td class="tableblock halign-left valign-top"></td>
</tr>
</tbody>
</table>
</div>
<div class="sect2">
<h3 id="_functionality">Functionality</h3>
<div class="paragraph">
<p>No systematic documentation available. See header files <a href="https://github.com/esmini/esmini/blob/master/EnvironmentSimulator/Libraries/esminiLib/esminiLib.hpp">esminiLib.hpp</a> and <a href="https://github.com/esmini/esmini/blob/master/EnvironmentSimulator/Libraries/esminiRMLib/esminiRMLib.hpp">esminiRMLib.hpp</a> for API details.</p>
</div>
<div class="paragraph">
<p>The following section covers some specific use cases of the library.</p>
</div>
<div class="sect3">
<h4 id="_save_or_grab_images">Save or grab images</h4>
<div class="paragraph">
<p>Screenshots can be controlled via the API:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code data-lang="c++"><span class="predefined-type">int</span> SE_SaveImagesToFile(<span class="predefined-type">int</span> nrOfFrames);</code></pre>
</div>
</div>
<div class="paragraph">
<p>nrOfFrames: -1 ⇒ continuously, 0 ⇒ stop, > 0 ⇒ number of frames, e.g. 1=next frame only, 2=next two frames</p>
</div>
<div class="paragraph">
<p>Images will be stored in current folder with name <code>screen_shot_*.tga</code> (* = counter) for post processing.</p>
</div>
<div class="paragraph">
<p>Images can also be saved to memory for instant processing. Control the feature with:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code data-lang="c++"><span class="predefined-type">int</span> SE_SaveImagesToRAM(<span class="predefined-type">bool</span> state);</code></pre>
</div>