Merge pull request OpenSimulationInterface#267 from OpenSimulationInterface/Moving-Objects-relative-velocity-definition

Update Definition solves OpenSimulationInterface#234

Author: Ludwig Friedmann

osi_common.proto

@@ -272,7 +272,8 @@ message BaseStationary
     optional Vector3d position = 2;
 
     // The relative orientation of the stationary object w.r.t. its parent
-    // frame.
+    // frame, noted in the parent frame. The orientation becomes global/absolute
+    // if the parent frame is inertial (all parent frames up to ground truth).
     //
     // <tt>Origin_base_stationary_entity :=
     // Rotation_yaw_pitch_roll(#orientation)*(Origin_parent_coordinate_system -
@@ -327,7 +328,9 @@ message BaseMoving
     //
     optional Vector3d position = 2;
 
-    // The relative orientation of the moving object w.r.t. its parent frame.
+    // The relative orientation of the moving object w.r.t. its parent frame,
+    // noted in the parent frame. The orientation becomes global/absolute if
+    // the parent frame is inertial (all parent frames up to ground truth).
     //
     // <tt>Origin_base_moving_entity :=
     // Rotation_yaw_pitch_roll(#orientation)*(Origin_parent_coordinate_system -
@@ -338,18 +341,17 @@ message BaseMoving
     //
     optional Orientation3d orientation = 3;
 
-    // The relative velocity of the moving object w.r.t. its parent frame and
-    // parent velocity.
-    // The velocity becomes global/absolute if the parent frame does not move.
+    // The relative velocity of the moving object w.r.t. the parent frame,
+    // noted in the parent frame. The velocity becomes global/absolute if
+    // the parent frame does is inertial (all parent frames up to ground truth).
     //
     // <tt>#position (t) := #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.
+    // The relative acceleration of the moving object w.r.t. its parent frame,
+    // noted in the parent frame. The acceleration becomes global/absolute if
+    // the parent frame is inertial (all parent frames up to ground truth).
     //
     // <tt> #position (t) := #position (t-dt)+ #velocity *dt+ #acceleration
     // /2*dt^2</tt>
@@ -360,7 +362,9 @@ message BaseMoving
 
     // 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).
+    // (origin of the bounding box frame), noted in the parent frame.
+    // The orientation becomes global/absolute if the parent frame is inertial
+    // (all parent frames up to ground truth).
     //
     // <tt>Rotation_yaw_pitch_roll(#orientation (t)) :=
     // Rotation_yaw_pitch_roll(#orientation_rate

osi_detectedobject.proto

@@ -151,13 +151,16 @@ message DetectedMovingObject
     // The base parameters of the moving object.
     //
     // \note The bounding box does NOT includes mirrors for vehicles.
+    // \note The parent frame of \c base is the sensor's vehicle frame.
     //
     optional BaseMoving base = 2;
 
     // The root mean squared error of the base parameters of the detected
     // moving object (e.g. car). \c MovingObject::base has to be
     // identical for all \c #candidate moving objects.
     //
+    // \note The parent frame of \c base is the sensor's vehicle frame.
+    //
     optional BaseMoving base_rmse = 3;
 
     // Reference point location specification of the sensor measurement

osi_sensordata.proto

@@ -135,6 +135,7 @@ message SensorData
     // \note This value is only set by sensors that are able to
     // provide an own estimation of the host vehicle location.
     // \note Note that dimension and base_polygon need not be set.
+    // \note The parent frame of \c host_vehicle_location is the sensor frame.
     //
     optional BaseMoving host_vehicle_location = 3;
 
@@ -143,6 +144,7 @@ message SensorData
     // \note This value is only set by sensors that are able to
     // provide an own estimation of the host vehicle location.
     // \note Note that dimension and base_polygon need not be set.
+    // \note The parent frame of \c host_vehicle_location_rmse is the sensor frame.
     //
     optional BaseMoving host_vehicle_location_rmse = 4;