tier4 · TauTheLepton · Jul 3, 2024 · Jul 3, 2024 · Jul 24, 2024 · Jul 25, 2024
diff --git a/mock/cpp_mock_scenarios/include/cpp_mock_scenarios/cpp_scenario_node.hpp b/mock/cpp_mock_scenarios/include/cpp_mock_scenarios/cpp_scenario_node.hpp
@@ -49,8 +49,8 @@ class CppScenarioNode : public rclcpp::Node
     return false;
   }
   void spawnEgoEntity(
-    const traffic_simulator::CanonicalizedLaneletPose & spawn_lanelet_pose,
-    const std::vector<traffic_simulator::CanonicalizedLaneletPose> & goal_lanelet_pose,
+    const traffic_simulator::LaneletPose & spawn_lanelet_pose,
+    const std::vector<traffic_simulator::LaneletPose> & goal_lanelet_pose,
     const traffic_simulator_msgs::msg::VehicleParameters & parameters);
 
   auto isVehicle(const std::string & name) const -> bool;

diff --git a/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp b/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp
@@ -70,22 +70,20 @@ class LoadDoNothingPluginScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters(),
       traffic_simulator::entity::VehicleEntity::BuiltinBehavior::doNothing());
     api_.spawn(
-      "pedestrian", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 3.0, 0.0),
+      "pedestrian", traffic_simulator::helper::constructLaneletPose(34741, 3.0, 0.0),
       getPedestrianParameters(),
       traffic_simulator::entity::PedestrianEntity::BuiltinBehavior::doNothing());
     api_.spawn(
       "vehicle_spawn_with_behavior_tree",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 2.0, 0.0),
-      getVehicleParameters(),
+      traffic_simulator::helper::constructLaneletPose(34741, 2.0, 0.0), getVehicleParameters(),
       traffic_simulator::entity::VehicleEntity::BuiltinBehavior::behaviorTree());
     api_.spawn(
       "pedestrian_spawn_with_behavior_tree",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 3.0, 0.0),
-      getPedestrianParameters(),
+      traffic_simulator::helper::constructLaneletPose(34741, 3.0, 0.0), getPedestrianParameters(),
       traffic_simulator::entity::PedestrianEntity::BuiltinBehavior::behaviorTree());
   }
 };

diff --git a/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp b/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp
@@ -52,7 +52,7 @@ class CrashingNpcScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(0.0);
     ego_entity.requestSpeedChange(15, true);
@@ -61,7 +61,7 @@ class CrashingNpcScenario : public cpp_mock_scenarios::CppScenarioNode
     ego_entity.setBehaviorParameter(behavior_parameter);
 
     auto & npc_entity = api_.spawn(
-      "npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 10.0, 0.0),
+      "npc", traffic_simulator::helper::constructLaneletPose(34741, 10.0, 0.0),
       getVehicleParameters());
     npc_entity.setLinearVelocity(0.0);
     npc_entity.requestSpeedChange(5, true);

diff --git a/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp b/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp
@@ -50,13 +50,13 @@ class SpawnWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.2, 1.3),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.2, 1.3),
       getVehicleParameters());
     ego_entity.setLinearVelocity(0);
     ego_entity.requestSpeedChange(0, true);
 
     auto & bob_entity = api_.spawn(
-      "bob", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, -0.874),
+      "bob", traffic_simulator::helper::constructLaneletPose(34741, 0.0, -0.874),
       getPedestrianParameters());
     bob_entity.setLinearVelocity(0);
     bob_entity.requestSpeedChange(0, true);

diff --git a/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp b/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp
@@ -99,8 +99,8 @@ void CppScenarioNode::stop(Result result, const std::string & description)
 }
 
 void CppScenarioNode::spawnEgoEntity(
-  const traffic_simulator::CanonicalizedLaneletPose & spawn_lanelet_pose,
-  const std::vector<traffic_simulator::CanonicalizedLaneletPose> & goal_lanelet_poses,
+  const traffic_simulator::LaneletPose & spawn_lanelet_pose,
+  const std::vector<traffic_simulator::LaneletPose> & goal_lanelet_poses,
   const traffic_simulator_msgs::msg::VehicleParameters & parameters)
 {
   api_.updateFrame();

diff --git a/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp b/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp
@@ -75,16 +75,16 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(120545, 0.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(120545, 0.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(8, true);
-    ego_entity.requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(34675, 0.0, 0.0),
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(34690, 0.0, 0.0)});
+    ego_entity.requestAssignRoute(
+      {traffic_simulator::helper::constructLaneletPose(34675, 0.0, 0.0),
+       traffic_simulator::helper::constructLaneletPose(34690, 0.0, 0.0)});
 
     auto & bob_entity = api_.spawn(
-      "bob", traffic_simulator::helper::constructCanonicalizedLaneletPose(34378, 0.0, 0.0),
+      "bob", traffic_simulator::helper::constructLaneletPose(34378, 0.0, 0.0),
       getPedestrianParameters());
     bob_entity.setLinearVelocity(0);
     bob_entity.requestSpeedChange(

diff --git a/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp b/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp
@@ -58,12 +58,12 @@ class AccelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(3);
 
     auto & npc_entity = api_.spawn(
-      "npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 10.0, 0.0),
+      "npc", traffic_simulator::helper::constructLaneletPose(34741, 10.0, 0.0),
       getVehicleParameters());
     npc_entity.setLinearVelocity(10);
     npc_entity.requestSpeedChange(10, true);

diff --git a/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp b/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp
@@ -58,12 +58,12 @@ class DecelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(15);
 
     auto & npc_entity = api_.spawn(
-      "npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 15.0, 0.0),
+      "npc", traffic_simulator::helper::constructLaneletPose(34741, 15.0, 0.0),
       getVehicleParameters());
     npc_entity.setLinearVelocity(10);
     npc_entity.requestSpeedChange(10, true);

diff --git a/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp
@@ -47,14 +47,14 @@ class AcquirePositionInWorldFrameScenario : public cpp_mock_scenarios::CppScenar
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 10.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 10.0, 0.0),
       getVehicleParameters());
     ego_entity.setStatus(
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
+      traffic_simulator::helper::constructLaneletPose(34513, 0.0, 0.0),
       traffic_simulator::helper::constructActionStatus(10));
     ego_entity.requestSpeedChange(10, true);
     const geometry_msgs::msg::Pose goal_pose = traffic_simulator::pose::toMapPose(
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(34408, 1.0, 0.0));
+      traffic_simulator::helper::constructLaneletPose(34408, 1.0, 0.0));
     ego_entity.requestAcquirePosition(goal_pose);
   }
 };

diff --git a/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp
@@ -47,15 +47,15 @@ class AcquireRouteInWorldFrameScenario : public cpp_mock_scenarios::CppScenarioN
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 0.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
     std::vector<geometry_msgs::msg::Pose> goal_poses;
     goal_poses.emplace_back(traffic_simulator::pose::toMapPose(
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(34408, 1.0, 0.0)));
+      traffic_simulator::helper::constructLaneletPose(34408, 1.0, 0.0)));
     goal_poses.emplace_back(traffic_simulator::pose::toMapPose(
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(34408, 10, 0.0)));
+      traffic_simulator::helper::constructLaneletPose(34408, 10, 0.0)));
     ego_entity.requestAssignRoute(goal_poses);
   }
 };

diff --git a/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp b/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp
@@ -41,7 +41,7 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode
   {
     auto & ego_entity = api_.getEntity("ego");
     if (ego_entity.isNearbyPosition(
-          traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 30, 0), 3.0)) {
+          traffic_simulator::helper::constructLaneletPose(34513, 30, 0), 3.0)) {
       ego_entity.cancelRequest();
       canceled = true;
     }
@@ -52,7 +52,7 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 0.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(7);
     ego_entity.requestSpeedChange(7, true);

diff --git a/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp b/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp
@@ -51,7 +51,7 @@ class FollowLaneWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 3.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 0.0, 3.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp
@@ -51,7 +51,7 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp
@@ -51,7 +51,7 @@ class LaneChangeLeftWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp
@@ -56,7 +56,7 @@ class LaneChangeLinearScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp
@@ -60,7 +60,7 @@ class LaneChangeLinearLateralVelocityScenario : public cpp_mock_scenarios::CppSc
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp
@@ -61,7 +61,7 @@ class LaneChangeLinearTimeScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp
@@ -47,7 +47,7 @@ class LaneChangeLongitudinalDistanceScenario : public cpp_mock_scenarios::CppSce
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(1);
     ego_entity.requestSpeedChange(1, true);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp
@@ -51,7 +51,7 @@ class LaneChangeRightScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 10.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 10.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp
@@ -51,7 +51,7 @@ class LaneChangeRightWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 10.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 10.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp
@@ -61,7 +61,7 @@ class LaneChangeTimeScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);

diff --git a/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp b/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp
@@ -137,19 +137,19 @@ class GetDistanceInLaneCoordinateScenario : public cpp_mock_scenarios::CppScenar
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 5.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 5.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(3, true);
 
     auto & front_entity = api_.spawn(
-      "front", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 10.0, 1.0),
+      "front", traffic_simulator::helper::constructLaneletPose(34513, 10.0, 1.0),
       getVehicleParameters());
     front_entity.setLinearVelocity(10);
     front_entity.requestSpeedChange(3, true);
 
     auto & behind_entity = api_.spawn(
-      "behind", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, -1.0),
+      "behind", traffic_simulator::helper::constructLaneletPose(34513, 0.0, -1.0),
       getVehicleParameters());
     behind_entity.setLinearVelocity(10);
     behind_entity.requestSpeedChange(3, true);

diff --git a/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp b/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp
@@ -56,7 +56,7 @@ class GetDistanceToLaneBoundScenario : public cpp_mock_scenarios::CppScenarioNod
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 5.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 5.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(3, true);

diff --git a/mock/cpp_mock_scenarios/src/merge/merge_left.cpp b/mock/cpp_mock_scenarios/src/merge/merge_left.cpp
@@ -54,14 +54,14 @@ class MergeLeftScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 15.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 15.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(5);
     ego_entity.requestSpeedChange(5, true);
     ego_entity.requestLaneChange(34513);
 
     auto & npc_entity = api_.spawn(
-      "npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
+      "npc", traffic_simulator::helper::constructLaneletPose(34513, 0.0, 0.0),
       getVehicleParameters());
     npc_entity.setLinearVelocity(10);
   }

diff --git a/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp b/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp
@@ -60,7 +60,7 @@ class TraveledDistanceScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(3);
     ego_entity.requestSpeedChange(3, true);

diff --git a/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp b/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp
@@ -51,7 +51,7 @@ class MoveBackwardScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(-3);
     ego_entity.requestSpeedChange(-3, true);

diff --git a/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp b/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp
@@ -70,15 +70,15 @@ class WalkStraightScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto & ego_entity = api_.spawn(
-      "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(120545, 0.0, 0.0),
+      "ego", traffic_simulator::helper::constructLaneletPose(120545, 0.0, 0.0),
       getVehicleParameters());
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(8, true);
-    ego_entity.requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(34675, 0.0, 0.0),
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(34690, 0.0, 0.0)});
+    ego_entity.requestAssignRoute(
+      {traffic_simulator::helper::constructLaneletPose(34675, 0.0, 0.0),
+       traffic_simulator::helper::constructLaneletPose(34690, 0.0, 0.0)});
     auto & bob_entity = api_.spawn(
-      "bob", traffic_simulator::helper::constructCanonicalizedLaneletPose(34378, 0.0, 0.0),
+      "bob", traffic_simulator::helper::constructLaneletPose(34378, 0.0, 0.0),
       getPedestrianParameters());
     bob_entity.setLinearVelocity(0);
     bob_entity.requestWalkStraight();