Documentation/ground clearance bb relation

osi_detectedobject.proto

@@ -159,6 +159,8 @@ message DetectedMovingObject
     //
     // \note The bounding box does NOT includes mirrors for vehicles.
     // \note The parent frame of \c base is the sensor's vehicle frame.
+    // \note The height includes the ground_clearance. It always goes from the
+    // top to the ground.
     //
     optional BaseMoving base = 2;
 

osi_object.proto

@@ -292,6 +292,8 @@ message MovingObject
     // The base parameters of the vehicle.
     //
     // \note The bounding box does NOT include side mirrors for vehicles.
+    // \note The height includes the ground_clearance. It always goes from the
+    // top to the ground.
     //
     optional BaseMoving base = 2;
 
@@ -442,11 +444,12 @@ message MovingObject
         //
         optional Vector3d bbcenter_to_front = 5;
 
-        // Static minimal distance in m of under-body plane to ground
-        // surface plane (i.e. disregarding driving dynamic effects or road
-        // surface effects) under neutral load conditions. Can be useful to
-        // approximate the clear area under a vehicle that a sensor can see
-        // through.
+        // Static minimal distance or space from the lowest point of the vehicle's 
+        // body to the surface plane below it under neutral load conditions. This
+        // distance disregards, for example, driving-dynamic effects or 
+        // road-surface effects. Can be useful to approximate the clearance area
+        // under a vehicle that a sensor can see through.
+        // \note \c ground_clearance is included in the bounding box height.
         //
         optional double ground_clearance = 6;