Merge branch 'Extension_by_WheelData' of github.com:OpenSimulationInterface/open-simulation-interface into Extension_by_WheelData

Author: paagkame

osi_object.proto

@@ -447,7 +447,7 @@ message MovingObject
         // \brief Detailed wheel data.
         // The focus is on the description of a wheel regarding the perceivable 
         // information from the outside. 
-        // It is not intended to be used for e.g. dynamic calculations.
+        // It is not intended to be used for dynamic calculations, for example.
         //
         message WheelData
         {
@@ -458,18 +458,17 @@ message MovingObject
             optional uint32 axle = 1;
 
             // The index of the wheel on the axle, counting in the direction
-            // of positive-y, i.e. right-to-left.
+            // of positive-y, that is, right-to-left.
             //
             // For example, on a standard 2-axle, 4-wheel car, the rear-right
             // wheel would be (axle=1, index=0).
             // This concept works also for twin tires.
             //
             optional uint32 index = 2;
 
-            // Position of the wheel (geometric 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.
+            // A vector pointing from the vehicle's reference system (center of bounding 
+            // box) to the geometric center of the wheel.
+            // The geometric center is measured when the vehicle is in resting position.
             //
             optional Vector3d position = 3;
 
@@ -495,16 +494,18 @@ message MovingObject
             // Orientation of the wheel.
             //
             // The reference system is the vehicle frame (center of bounding box).
-            // Right-handed relative to the vehicle's forward motion.  The yaw-value shows the steering angle.
             //
             optional Orientation3d orientation = 7;
 
-            // Rotation rate in the wheel's frame of reference (rotation around the wheel axle).
+            // Rotation rate of the wheel.
             //
             // Unit: rad/s.
             //
-            // The sign convention is defined using the right-hand rule with respect to the vehicle's coordinate system (DIN ISO 8855:2013-11):
-            // Counterclockwise is positive, and clockwise is negative.
+            // The sign convention is defined using the right-hand rule.
+            // It is applied on the y-axis of the vehicle's reference system (center of bounding box).
+            // Counterclockwise is positive and clockwise is negative.
+            //
+            // Insert picture here.
             //
             optional double rotation_rate = 8;