Reorder sensor view configuration, fix single quotes.

Signed-off-by: Pierre R. Mai <pmai@pmsf.de>

Author: pmai

doc/architecture/sensor_view.adoc

@@ -4,6 +4,6 @@ Sensor view provides the input to OSI sensor models.
 Sensor-view messages are derived from ground-truth messages.
 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.
+* Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor's mounting position.
   Example of technology-specific data: https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1CameraSensorView.html#ac58456a34babf78792ea2608eb963f36[`image_data` of `osi3::CameraSensorView`]
 * Ground truth, given in the global coordinate system.

doc/architecture/sensor_view_configuration.adoc

@@ -1,18 +1,33 @@
 = Sensor view configuration
 
+The sensor view is flexibly defined to support different kinds of sensor models with appropriate input.
+The sensor view configuration defines the configuration of a particular sensor view.
+
+This message is used in the initialization phase of a simulation to negotiate the sensor view configuration for a particular sensor view input.
+It is also included as a sub-message in all sensor view messages to indicate the sensor view configuration valid for this particular sensor view message.
+
 Sensor-view-configuration data enables the environment simulation to supply the necessary input to a sensor model.
+It further enables a sensor model to check whether the input supplied matches its requirements and expectations and to terminate a simulation if this is not the case.
 
-There are two sources for sensor-view-configuration data:
+NOTE: The data is intended for the automatic configuration of the sensor view interface between environment simulation and sensor model.
+Sensor-view-configuration data is not intended as a mechanism to parametrize a generic sensor model. 
 
-1. Sensor-view-configuration data may be provided by the environment simulation.
-+
-NOTE: The data is intended for the automatic configuration of an environment simulation. Sensor-view-configuration data is not intended to provide parameters to a sensor model.
+During the initialization phase, there are two sources for sensor-view-configuration data:
 
-2. Sensor-view-configuration data may be provided by the sensor model to the environment simulation.
+1. Sensor-view-configuration data may be provided by the sensor model to the environment simulation.
 +
 In this case, the data describes the input configuration that is requested by the sensor model.
-In response, the environment simulation configures the input and provides a new message that describes the actual configuration.
+If no such data is provided by a sensor model, then the environment simulation will fall back to manual configuration of the sensor view.
+
+2. Sensor-view-configuration data may be provided by the environment simulation.
++
+In response to the request by the sensor model, or based on manual configuration, the environment simulation configures the input and provides a new message that describes the actual configuration.
 
-The message describing the configuration requested by the sensor model differs from the message describing the configuration provided by the environment simulation.
 The configuration requested by the sensor model may differ from the configuration provided by the environment simulation.
-This happens when the environment simulation does not support a requested configuration or when the requested configuration is ambiguous.
+This happens when the environment simulation does not support a requested configuration or when the requested configuration is ambiguous.
+
+In response to this difference the sensor model can either accept this difference and adapt to it, or it can terminate the simulation to indicate that it is not able to accept the difference.
+
+The specifics of the auto negotiation mechanism are specified in the packaging layer.
+
+After the initialization phase the environment simulation will provide the actual sensor view configuration also as part of each sensor view message.

doc/usecases/transforming_coordinate_systems.adoc

@@ -2,34 +2,34 @@
 
 == Vehicle and Sensor Coordinate Systems
 
-Transforming coordinates from the world coordinate system for a specific vehicle and its sensors is a common task when running simulations.
+Transforming coordinates from the world coordinate system for a specific vehicle and its sensors is frequently needed when running simulations.
 
-This section provides an overview of the involved messages, fields and their relationship for this task.
-It demonstrates how world coordinate system, vehicle coordinate system, and sensor coordinate system are related for a specific (ego-)vehicle.
+This section provides an overview of the involved messages and fields and their relationship for this task.
+It demonstrates how world coordinate system, vehicle coordinate system, and sensor coordinate system are related given a specific (ego-)vehicle.
 
 //TODO: Should we add one or more sentences about the mathematical operations involved?
 
 **Corresponding messages**
 
 ``GroundTruth::moving_object::base::position``::
-Defines the position of the vehicle’s reference point in world coordinates.
+This field defines the position of the vehicle's reference point in world coordinates.
 In Open Simulation Interface, the position of an object is defined by the coordinates of the center of the object's bounding box.
 
 ``GroundTruth::moving_object::base::orientation``::
-Defines the orientation of the vehicle’s reference point in world coordinates.
+This field defines the orientation of the vehicle's reference point in world coordinates.
 
 ``GroundTruth::moving_object::vehicle_attributes::bbcenter_to_rear``::
-The vector pointing from the vehicle’s reference point to the middle of the rear axle under neutral load conditions in vehicle coordinates.
+This field specifies the vector pointing from the vehicle's reference point to the middle of the rear axle under neutral load conditions in vehicle coordinates.
 
 ``SensorData::mounting_position``::
-Defines the sensor’s position and orientation and thereby the origin of the sensor coordinate system.
+This field defines the sensor's position and orientation and, thereby, the origin of the sensor coordinate system.
 The mounting position is given in the vehicle coordinate system.
 
 **Example**
 
 The following image shows the relationship between the coordinate systems.
 The reference point of the vehicle is given by a vector in the world coordinate system.
 A vector pointing from the reference position of the vehicle to the center of the rear axle then yields the origin of the vehicle coordinate system.
-The mounting positions of the sensors and therefore the origins of the corresponding sensor coordinate systems are then given with respect to the vehicle coordinate system.
+The mounting positions of the sensors and, therefore, the origins of the corresponding sensor coordinate systems are given with respect to the vehicle coordinate system.
 
 image::{images_open_simulation_interface}/osi_example_coordinate_systems.png[]