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Removed limitation to IMU sensor and added enu origin to allow global… #486

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Removed limitation to IMU sensor and added enu origin to allow global… #486

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40 changes: 24 additions & 16 deletions osi_hostvehicledata.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ message HostVehicleData
optional BaseMoving location = 1;

// Deprecated: Will be removed in next major release. Moved to VehiclePositionAndKinematics.
// Current estimated location error based on GPS- and related navigation
// Current estimated location error based on GPS- and related navigation
// sensors.
//
// \note Note that dimension and base_polygon need not be set.
Expand Down Expand Up @@ -88,7 +88,7 @@ message HostVehicleData
//
message VehicleBasics
{
// The total mass of the vehicle (curb weight).
// The total mass of the vehicle (curb weight).
//
// Unit: kg
//
Expand All @@ -106,7 +106,7 @@ message HostVehicleData
// To be discussed.
//
}

//
// \brief State description of the powertrain.
//
Expand All @@ -132,7 +132,7 @@ message HostVehicleData
// reverse mode gears)
//
optional int32 gear_transmission = 3;

// Information about the motor(s).
//
repeated Motor motor = 4;
Expand All @@ -157,7 +157,7 @@ message HostVehicleData
//
optional double pedal_position_clutch = 3;
}

//
// \brief A description for the positions of the pedals.
//
Expand All @@ -166,7 +166,7 @@ message HostVehicleData
// The type of the motor.
//
optional Type type = 1;

// Rounds per minute of the engine. RPM can be from E-Motor/ Engine.
//
// Unit: 1/min
Expand All @@ -178,7 +178,7 @@ message HostVehicleData
// Unit: N*m
//
optional double torque = 3;

// Definition which type of motor is used.
//
enum Type
Expand All @@ -194,11 +194,11 @@ message HostVehicleData
// A motor working after the principle of Nicolaus Otto.
//
TYPE_OTTO = 2;

// A motor working after the principle of Rudolf Diesel.
//
TYPE_DIESEL = 3;

// A motor working electric.
//
TYPE_ELECTRIC = 4;
Expand All @@ -212,7 +212,7 @@ message HostVehicleData
//
message VehicleSteeringWheel
{
// Angle of the steering wheel.
// Angle of the steering wheel.
// 0=Central (Straight); Left>0; 0>Right.
//
// Unit: rad
Expand Down Expand Up @@ -262,7 +262,7 @@ message HostVehicleData
//
optional uint32 index = 2;

// Dry friction is a force that opposes the relative lateral motion of two solid surfaces
// Dry friction is a force that opposes the relative lateral motion of two solid surfaces
// in contact. It is subdivided into static friction between non-moving surfaces and kinetic
// friction between moving surfaces.
// Ued here is the dry friction coefficient of the paired materials (see reference).
Expand Down Expand Up @@ -305,21 +305,29 @@ message HostVehicleData
message VehiclePositionAndKinematics
{
//
// \brief Current kinematic data based on the output of the Intertial Measurement Unit (IMU).
// \brief Current vehicle kinematics in the cartesian coordinate system.
//
message CartesianInformation
{
// Current kinematic data based on the output of the Intertial Measurement Unit (IMU).
// Current kinematic data. If enu_origin is set then the pose is given in ENU according to ISO8855.
// Otherwise the cartesian coordinate system is only an arbitrary local frame of reference.
//
// \note Note that dimension and base_polygon need not be set.
//
optional BaseMoving cartesian_data = 1;

// Current kinematic data error based on the output of the Intertial Measurement Unit (IMU).
// Current kinematic data error. If enu_origin is set then the pose error is given in ENU according to ISO8855.
// Otherwise the cartesian coordinate system is only an arbitrary local frame of reference.
//
// \note Note that dimension and base_polygon need not be set.
//
optional BaseMoving cartesian_data_rmse = 2;

// Geodetic origin of the ENU (east-north-up) cartesian coordinate system regarding WGS84.
//
// Order: Longitude[rad], latitude[rad], altitude[m].
//
optional Vector3d enu_origin = 3;
}

//
Expand Down Expand Up @@ -348,7 +356,7 @@ message HostVehicleData
//
optional double altitude = 3;

// To be discussed as it is in CartesianInformation.
// To be discussed as it is in CartesianInformation.
// Heading in decimal degrees.
//
// Unit: Degree
Expand All @@ -366,5 +374,5 @@ message HostVehicleData
//
// optional int32 number_of_satellites = 6;
}
}
}
}