Rework wheel data position and orientation

Signed-off-by: Pierre R. Mai <pmai@pmsf.de>
Signed-off-by: Schloemicher, Thomas AVL,AT <thomas.schloemicher@avl.com>

Author: ThomasNaderBMW

osi_object.proto

@@ -455,7 +455,7 @@ message MovingObject
         //
         repeated WheelData wheel_data = 7;
 
-        // \brief Information for a single wheel.
+        // \brief Description of a single wheel.
         //
         message WheelData
         {
@@ -472,25 +472,27 @@ message MovingObject
             // wheel would be (axle=1, index=0).
             //
             optional uint32 index = 2;
-
-            // Steering angle with positive values indicating a clockwise
-            // rotation about the z-axis.  Must be zero for non-steering
-            // wheels.
+            
+            // Position of the wheel (geographical center of the wheel).
+            // The reference system is the vehicle frame (center of bounding box).
+            // Right-handed, x-axis shows into driving direction "forward".
+            // Rough Approximation: The z-value shows the damping.
             //
-            optional double steer_angle = 3;
+            optional Vector3d position = 3;
 
-            // Rotation of the wheel about the axle in radians per second.
+            // Orientation of the wheel.
+            // The reference system is the vehicle frame (center of bounding box).
+            // Right-handed, x-axis shows into driving direction "forward".
+            // Rough Approximation: The yaw-value shows the steering angle.
             //
-            optional double rotation_rate = 4;
+            optional Orientation3d orientation = 4;
 
-            // Current rotation about the axle.  Rotation angle
-            // increases as the vehicle moves forward (x-positive) and
-            // decreases as the vehicle moves backwards.
+            // Rotation of the wheel around the axle.
             //
-            // \note This value doesn't wrap but permanently increases or
-            // decreases.
+            // Unit: Rad/s.
+            // Positive means, that the vehicle moves forward.
             //
-            optional double rotation_angle = 5;
+            optional double rotation_rate = 5;
         }
     }