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Merged
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Mar 20, 2018
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Review documentation (issue #97) #162

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4ba094c
Review documentation
carsten-kuebler Mar 19, 2018
3e4930f
Merge branch 'master' into documentation/review_2
jdsika Mar 20, 2018
542a5af
Typos in Documentation
carsten-kuebler Mar 20, 2018
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44 changes: 24 additions & 20 deletions osi_common.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
Expand All @@ -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.
Expand Down Expand Up @@ -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;
}

//
Expand Down Expand Up @@ -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:
Expand Down Expand Up @@ -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;
}

Expand All @@ -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.
Expand All @@ -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.
Expand All @@ -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.
Expand Down Expand Up @@ -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.
Expand All @@ -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;
Expand Down
17 changes: 10 additions & 7 deletions osi_datarecording.proto
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Expand Up @@ -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;
}
2 changes: 1 addition & 1 deletion osi_detectedobject.proto
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Expand Up @@ -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
Expand Down
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