Merge pull request #40 from OpenSimulationInterface/contour2d

Contour2d

Author: jdsika

.gitignore

@@ -1,4 +1,5 @@
 build/
+dist/
 CMakeCache.txt
 CMakeFiles
 CMakeScripts
@@ -10,3 +11,4 @@ CTestTestfile.cmake
 build
 *.egg-info
 osi
+.project

osi_common.proto

@@ -12,8 +12,8 @@ message InterfaceVersion
     /// The field containing the version number. Should be left on default, not to be modified by sender. Increments will
     /// happen as part of changes to the whole interface.
     optional uint32 major = 1 [default = 2];
-    optional uint32 minor = 2 [default = 0];
-    optional uint32 patch = 3 [default = 1];
+    optional uint32 minor = 2 [default = 1];
+    optional uint32 patch = 3 [default = 0];
 }
 
 ///
@@ -32,6 +32,19 @@ message Vector3d
     optional double z = 3;
 }
 
+///
+/// A cartesian 2D vector for positions, velocities or accelerations.
+/// Units are [m] for positions, [m/s] for velocities and [m/s^2] for accelerations.
+///
+message Vector2d
+{
+    /// The x coordinate
+    optional double x = 1;
+
+    /// The y coordinate
+    optional double y = 2;
+}
+
 ///
 /// A timestamp.
 /// Names and types of fields chosen in accordance with google/protobuf/timestamp.proto to allow a possible switch in the
@@ -141,6 +154,21 @@ message BaseStationary
 
     /// The relative orientation of the landmark w.r.t its parent frame.
     optional Orientation3d orientation = 3;
+    
+    /// Usage as ground truth:
+    /// The two dimensional (flat) contour of the object. This is an extension of the concept of a 
+    /// bounding box as defined in Dimension3d. The contour is the projection of the object outline 
+    /// on the z-plane in the object frame (independent of its current position and orientation). 
+    /// Usage as sensor data:
+    /// The polygon describes the visible part of the object's contour.
+    /// General definitions:
+    /// The polygon is defined in the local object frame: x pointing forward and y to the left.
+    /// The origin is the center of the bounding box.
+    /// As ground truth, the polygon is closed by connecting the last with the first point. Therefore  
+    /// these two points are different and there are at least three points.
+    /// As sensor data, the polygon is open.
+    /// The polygon is defined counter-clockwise.    
+    repeated Vector2d base_polygon = 4;
 }
 
 ///
@@ -169,4 +197,19 @@ message BaseMoving
     /// The relative orientation rate of the object w.r.t. its parent frame and parent orientation rate.
     /// Obviously, the orientation rate becomes global/absolute if the parent frame is not rotating.
     optional Orientation3d orientation_rate = 6;
+    
+    /// Usage as ground truth:
+    /// The two dimensional (flat) contour of the object. This is an extension of the concept of a 
+    /// bounding box as defined in Dimension3d. The contour is the projection of the object outline 
+    /// on the z-plane in the object frame (independent of its current position and orientation). 
+    /// Usage as sensor data:
+    /// The polygon describes the visible part of the object's contour.
+    /// General definitions:
+    /// The polygon is defined in the local object frame: x pointing forward and y to the left.
+    /// The origin is the center of the bounding box.
+    /// As ground truth, the polygon is closed by connecting the last with the first point. Therefore  
+    /// these two points are different and there are at least three points.
+    /// As sensor data, the polygon is open.
+    /// The polygon is defined counter-clockwise.    
+    repeated Vector2d base_polygon = 7;    
 }

osi_object.proto

@@ -9,11 +9,8 @@ package osi;
 ///
 /// A vehicle.
 ///
-/// This is basically a BaseObject with additional attributes, such as type and lights. Note that, if this vehicle is a
-/// simulated ego vehicle (i.e. ego_vehicle is set to true), relative_ego_origin has to be set, defining the offset from
-/// the ego vehicle's bounding box center to the center of the vehicle's rear axis. This defines the origin of the ego
-/// vehicle's rear axis coordinate system and allows calculation of quantities relative to this reference frame. The
-/// origin of the rear axis coordinate system in world coordinates is calculated as: base.position + R * relative_ego_origin
+/// This is basically a BaseObject with additional attributes, such as type and lights. 
+/// The origin of the rear (front) axis coordinate system in world coordinates is calculated as: base.position + R * bbcenter_to_rear (front)
 /// for the ego vehicle (R rotates from vehicle to world frame). For all vehicles, including ego vehicles, the position given 
 /// in base.position points to the center of the vehicle's bounding box.
 ///
@@ -35,10 +32,9 @@ message Vehicle
     /// See the description above!
     optional bool ego_vehicle = 5;
 
-    /// The position of the vehicle's reference point.
-    /// See the description above!
-    /// Field need not be set (or should be zero) if ego_vehicle is set to false.
-    optional Vector3d relative_ego_origin = 6;
+    /// The vector pointing from the bounding box center point (base.position) to the middle (in x, y and z) 
+    /// of the rear axle under neutral load conditions. In object coordinates.
+    optional Vector3d bbcenter_to_rear = 6;
 
     /// The ids of the lanes that this vehicle is assigned to.
     /// Might be multiple if the vehicle is switching lanes or moving from one lane into another following lane.
@@ -54,6 +50,11 @@ message Vehicle
     /// The id of the driver of the (ego) vehicle.
     /// Field need not be set if ego_vehicle is set to false.
     optional Identifier driver = 10;
+    
+    /// The vector pointing from the bounding box center point (base.position) to the middle (in x, y and z)
+    /// of the front axle under neutral load conditions. In object coordinates.
+    optional Vector3d bbcenter_to_front = 11;
+    
 
     /// Definition of vehicle types.
     enum Type