Merge branch 'update/traffic_light' of https://github.com/OpenSimulationInterface/open-simulation-interface into update/traffic_light

Author: carsten-kuebler

osi_common.proto

@@ -9,10 +9,10 @@ package osi;
 // \brief A cartesian 3D vector for positions, velocities or accelerations or
 // its uncertainties.
 //
-// Units are [m] for positions, [m/s] for velocities and [m/s^2] for accelerations.
-//
 // The coordinate system is defined as right-handed. 
 //
+// Units are [m] for positions, [m/s] for velocities and [m/s^2] for
+// accelerations.
 message Vector3d
 {
     // The x coordinate.
@@ -35,8 +35,8 @@ message Vector3d
 // \brief A cartesian 2D vector for positions, velocities or accelerations or
 // its uncertainties.
 //
-// Units are [m] for positions, [m/s] for velocities and [m/s^2] for accelerations.
-//
+// Units are [m] for positions, [m/s] for velocities and [m/s^2] for
+// accelerations.
 message Vector2d
 {
     // The x coordinate.
@@ -67,9 +67,11 @@ message Timestamp
     optional int64 seconds = 1;
 
     // The number of nanoseconds since the start of the last second. 
+    // 
+    // Range: [0, 999.999.999]
     //
     // Unit: [ns]
-    optional int32 nanos = 2;
+    optional uint32 nanos = 2;
 }
 
 //
@@ -118,12 +120,12 @@ message Dimension3d
 // Roll/Pitch are 0 if the objects xy-plane is parallel to its parent's xy-plane.
 // Yaw is 0 if the object's local x-axis is parallel to its parent's x-axis.
 //
-// Rotation_yaw_pitch_roll = Rotation_roll*Rotation_pitch*Rotation_yaw
+// <tt>Rotation_yaw_pitch_roll = Rotation_roll*Rotation_pitch*Rotation_yaw</tt>
 //
-// vector_global_coord_system := Inverse_Rotation_yaw_pitch_roll(orientation)*(vector_local_coord_system) + local_origin.position
+// <tt>vector_global_coord_system := Inverse_Rotation_yaw_pitch_roll(orientation)*(vector_local_coord_system) + local_origin.position</tt>
 
 //
-// \note This definition changed in OSI version 3.0.0. Previous OSI versions 
+// \attention This definition changed in OSI version 3.0.0. Previous OSI versions 
 // (V2.xx) had an other definition.
 //
 // \par References: 
@@ -180,7 +182,8 @@ message MountingPosition
     optional Vector3d position = 1;
 
     // Orientation offset relative to the specified reference coordinate system.
-    // Origin_sensor := Rotation_yaw_pitch_roll(MountingPosition.orientation)*(Origin_reference_coordinate_system - MountingPosition.position)
+    //
+    // <tt>Origin_sensor := Rotation_yaw_pitch_roll(MountingPosition.orientation)*(Origin_reference_coordinate_system - MountingPosition.position)</tt>
     optional Orientation3d orientation = 2;
 }
 
@@ -191,13 +194,13 @@ message MountingPosition
 // 
 // Azimuth and elevation are defined as the rotations that would have to be 
 // applied to the local frame (e.g sensor frame definition in 
-// \c OSI:DetectionHeader) to make its x-axis point towards the referenced point
+// \c SensorDetectionHeader) to make its x-axis point towards the referenced point
 // or to align it with the referenced vector. The rotations are to be performed
 // \b azimuth \b first (around the z-axis) and \b elevation \b second (around 
-// the new y-axis) to follow the definition of \c OSI:Orientation3D. For the
+// the new y-axis) to follow the definition of \c Orientation3D. For the
 // sense of each rotation, the right-hand rule applies.
 //
-// vector_cartesian := Rotation(elevation)*Rotation(azimuth)*Unit_vector_x*distance
+// <tt>vector_cartesian := Rotation(elevation)*Rotation(azimuth)*Unit_vector_x*distance</tt>
 message Spherical3d
 {
     // The radial distance.
@@ -219,8 +222,8 @@ message Spherical3d
 //
 // \brief The base attributes of a stationary object or entity.
 // 
-// This includes the \c OSI::StationaryObject, \c OSI::TrafficSign,
-// \c OSI::TrafficLight, \c OSI::RoadMarking messages.
+// This includes the \c StationaryObject , \c TrafficSign ,
+// \c TrafficLight , \c RoadMarking messages.
 //
 // All coordinates and orientations are relative to the global ground truth
 // coordinate system.
@@ -238,7 +241,7 @@ message BaseStationary
     // The relative orientation of the stationary object w.r.t. its parent
     // frame.
     //
-    // Origin_base_stationary_entity := Rotation_yaw_pitch_roll(BaseStationary.orientation)*(Origin_parent_coordinate_system - BaseStationary.position)
+    // <tt>Origin_base_stationary_entity := Rotation_yaw_pitch_roll(BaseStationary.orientation)*(Origin_parent_coordinate_system - BaseStationary.position)</tt>
     //
     // \note There may be some constraints how to align the orientation w.r.t. 
     // to some stationary object's or entity's definition.
@@ -285,7 +288,7 @@ message BaseMoving
 
     // The relative orientation of the moving object w.r.t. its parent frame.
     //
-    // Origin_base_moving_entity := Rotation_yaw_pitch_roll(BaseMoving.orientation)*(Origin_parent_coordinate_system - BaseMoving.position)
+    // <tt>Origin_base_moving_entity := Rotation_yaw_pitch_roll(BaseMoving.orientation)*(Origin_parent_coordinate_system - BaseMoving.position)</tt>
     //
     // \note There may be some constraints how to align the orientation w.r.t.
     // to some stationary object's or entity's definition.
@@ -295,23 +298,24 @@ message BaseMoving
     // parent velocity.
     // The velocity becomes global/absolute if the parent frame does not move.
     //
-    // BaseMoving.position(t) := BaseMoving.position(t-dt)+velocity*dt 
+    // <tt>BaseMoving.position(t) := BaseMoving.position(t-dt)+velocity*dt</tt>
     optional Vector3d velocity = 4;
 
     // The relative acceleration of the moving object w.r.t. its parent frame
     // and parent acceleration.
     // The acceleration becomes global/absolute if the parent frame is not
     // accelerating.
     //
-    // BaseMoving.position(t) := BaseMoving.position(t-dt)+velocity*dt+acceleration/2*dt^2
-    // BaseMoving.velocity(t) := BaseMoving.velocity(t-dt)+acceleration*dt 
+    // <tt>BaseMoving.position(t) := BaseMoving.position(t-dt)+velocity*dt+acceleration/2*dt^2</tt>
+    //
+    // <tt>BaseMoving.velocity(t) := BaseMoving.velocity(t-dt)+acceleration*dt</tt>
     optional Vector3d acceleration = 5;
 
     // The relative orientation rate of the moving object w.r.t. its parent
     // frame and parent orientation rate in the center point of the bounding box
     // (origin of the bounding box frame).
     //
-    // Rotation_yaw_pitch_roll(BaseMoving.orientation(t)) := Rotation_yaw_pitch_roll(BaseMoving.orientation_rate*dt)*Rotation_yaw_pitch_roll(BaseMoving.orientation(t-dt))
+    // <tt>Rotation_yaw_pitch_roll(BaseMoving.orientation(t)) := Rotation_yaw_pitch_roll(BaseMoving.orientation_rate*dt)*Rotation_yaw_pitch_roll(BaseMoving.orientation(t-dt))</tt>
     //
     // \note BaseMoving.orientation(t) is \b not equal BaseMoving.orientation(t-dt)+BaseMoving.orientation_rate*dt
     optional Orientation3d orientation_rate = 6;

osi_datarecording.proto

@@ -7,33 +7,36 @@ import "osi_sensordata.proto";
 package osi;
 
 //
-// \brief (Time) Series of SensorData messages that may be used for data recording or internal buffering by some sensor models.
+// \brief (Time) Series of SensorData messages that may be used for data
+// recording or internal buffering by some sensor models.
 //
 message SensorDataSeries
 {
     // List of sensor data messages for subsequent timesteps.
     //
-    repeated SensorData sensor_data = 1;
+    repeated SensorData sensor_data_list = 1;
 }
 
 //
-// \brief List of SensorData interface copies, one for each sensor in the vehicle.
-// 
+// \brief List of SensorData interface copies, one for each sensor in the
+//  vehicle.
+//
 // Can be used to bundle output of multiple sensors in one transmission.
 //
 message SensorDataList
 {
     // List of sensor data for multiple sensors at a specific timestep.
     //
-    repeated SensorData sensor = 1;
+    repeated SensorData sensors = 1;
 }
 
 //
-// \brief List of sensors where each element contains a time series of SensorData messages.
+// \brief List of sensors where each element contains a time series of
+// SensorData messages.
 //
 message SensorDataSeriesList
 {
     // List of sensor data for multiple sensors at subsequent timesteps.
     //
-    repeated SensorDataSeries sensor = 1;
+    repeated SensorDataSeries sensors = 1;
 }

osi_detectedobject.proto

@@ -356,7 +356,7 @@ message DetectedObjectHeader
     }
 
     //
-    // \brief Version of detected object messages ( \c OSI::DetectedObject
+    // \brief Version of detected object messages ( \c DetectedObject
     // etc.).
     //
     message InterfaceVersion