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ThomasNaderBMW0815-code
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Clarify rotation_rate, radius and general description
Thanks to @kmeids and @raue! If something is missing, please let me know. Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Schloemicher, Thomas AVL,AT <thomas.schloemicher@avl.com>
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osi_object.proto

Lines changed: 17 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -450,13 +450,15 @@ message MovingObject
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//
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optional double ground_clearance = 6;
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// Detailed wheel data.
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// Description of each wheel.
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//
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// \note OSI uses singular instead of plural for repeated field names.
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//
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repeated WheelData wheel_data = 7;
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// \brief Description of a single wheel.
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// \brief Detailed wheel data.
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// The focus is on the description of a wheel regarding the perceivable
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// information from the outside.
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//
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message WheelData
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{
@@ -485,21 +487,30 @@ message MovingObject
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//
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// Unit: m
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//
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optional double radius = 4;
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optional double radius_wheel = 4;
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// Radius of the rim measured from the center to the outer, visible part of the rim.
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//
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// Unit: m
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//
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optional double radius_rim = 5;
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// Orientation of the wheel.
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// The reference system is the vehicle frame (center of bounding box).
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// Right-handed, x-axis shows into driving direction "forward".
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// Rough Approximation: The yaw-value shows the steering angle.
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//
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optional Orientation3d orientation = 5;
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optional Orientation3d orientation = 6;
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// Rotation of the wheel around the axle.
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//
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// Unit: Rad/s.
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// Positive means, that the vehicle moves forward.
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// Counterclockwise is positive, clockwise negative.
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// The reference point / view perspective is from the mid of the axle.
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// If there is just one wheel centered in the mid of the axle (e.g. bicycle),
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// the wheel is treated as a right wheel.
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//
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optional double rotation_rate = 6;
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optional double rotation_rate = 7;
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}
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}
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