OpenSimulationInterface · max-rosin · Jul 7, 2021 · Apr 20, 2021 · May 26, 2021 · May 26, 2021
diff --git a/doc/architecture/coordinate_systems.adoc b/doc/architecture/coordinate_systems.adoc
diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc
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 = Feature data
 
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+Feature data contains detected features in the reference frame of a sensor.
+Feature data is generated from ground-truth data.
+It serves, for example, as input for sensor models simulating object detection or feature fusion models.
diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc
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 = Ground truth
 
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+Ground truth describes the simulated environment around all simulated objects in the global coordinate system.
+It is based on data available to the simulation environment and published to external subscribers.
+Depending on the external subscriber, ground-truth data may be individually restricted to reduce the data to be exchanged.
diff --git a/doc/architecture/reference_points.adoc b/doc/architecture/reference_points.adoc
diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc
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+= Coordinate systems and reference points
+
+OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between coordinate systems.
+OSI uses three coordinate systems:
+
+World coordinate system::
+Coordinate system for all quantities which are part of ground truth.
+The world coordinate system is an inertial x/y/z-coordinate system.
+
+Sensor coordinate system::
+Coordinate system for all quantities which are part of sensor data.
+The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the technology.
+
+Object coordinate system::
+Coordinate system for local object coordinates.
+The origin of the corresponding coordinate systems is not necessarily identical to the center of the object's bounding box.
+For example with vehicles, the origin is the middle of the rear axle projected onto the ground.
diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc
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 = Sensor data
 
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+Sensor data imitates the output of real sensors.
+It can be generated from ground-truth data, sensor-view data, feature data or from sensor data.
+Except feature data, all information regarding the environment is given with respect to the virtual sensor coordinate system.
+Feature data is given with respect to the physical sensor coordinate system.
+Sensor data can be used as input for an automated driving function, a sensor model simulating limited perception, or a sensor fusion model.
diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc
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 = Sensor view
 
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+Sensor view imitates the input of sensors.
+Sensor-view data is derived from ground-truth data.
+All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions:
+
+* Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position.
+* Ground-truth data, given in the global coordinate system.
diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc
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 = Sensor view configuration
 
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+The sensor view configuration configures the sensor view.
+There are two sources for sensor-view-configuration data.
+
+Sensor-view-configuration data can be provided by the environment simulation.
+In this case, the data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model.
+Sensor-view-configuration data is not intended to provide parameters to a generic sensor model. 
+
+Sensor-view-configuration data can also be provided by the sensor model to the environment simulation.
+In this case, the data describes the input configuration that is desired by the sensor model.
+In response, the environment simulation will configure the input and provide a new message which describes the actual configuration.
+The configuration requested by the sensor model may differ from the actual configuration.
+This happens when the environment simulation does not support a given requested configuration or when the requested configuration allowed is ambiguous.
+The message describing the requested configuration differs from the message describing the actual configuration.
diff --git a/doc/architecture/traffic_command.adoc b/doc/architecture/traffic_command.adoc
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+= Traffic command
+
+Traffic commands contain control commands from the scenario engine to traffic participant models.
diff --git a/doc/architecture/traffic_update.adoc b/doc/architecture/traffic_update.adoc
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+= Traffic update
+
+Traffic updates are provided by traffic participants.
+They provide updates of the position, state and future trajectory of a traffic participant back to the simulation environment.
diff --git a/doc/images/osi_example_coordinate_systems.png b/doc/images/osi_example_coordinate_systems.png
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		= Traffic command

		Traffic commands contain control commands from the scenario engine to traffic participant models.