Update Definition

and add notes

Author: carsten-kuebler

osi_common.proto

@@ -325,18 +325,17 @@ 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 not move."
     //
     // <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 not accelerating.
     //
     // <tt> #position (t) := #position (t-dt)+ #velocity *dt+ #acceleration /2*dt^2</tt>
     //
@@ -346,7 +345,7 @@ 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.
     //
     // <tt>Rotation_yaw_pitch_roll(#orientation (t)) := Rotation_yaw_pitch_roll(#orientation_rate *dt)*Rotation_yaw_pitch_roll(#orientation (t-dt))</tt>
     //

osi_detectedobject.proto

@@ -149,13 +149,16 @@ 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

@@ -134,6 +134,7 @@ 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;
 
@@ -142,6 +143,7 @@ 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;