From 025b22b4407897d20c7f4a237d25a333ecc1072c Mon Sep 17 00:00:00 2001 From: Thomas Breitenberger Date: Thu, 29 Nov 2018 07:34:02 +0100 Subject: [PATCH 1/3] Added orientation acceleration to message BaseMoving --- osi_common.proto | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/osi_common.proto b/osi_common.proto index a87d6674a..0da17139a 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -395,4 +395,19 @@ message BaseMoving // The polygon is defined counter-clockwise. // repeated Vector2d base_polygon = 7; + + // The relative orientation acceleration of the moving object w.r.t. its parent + // frame and parent orientation acceleration in the center point of the bounding box + // (origin of the bounding box frame), noted in the parent frame. + // The orientation becomes global/absolute if the parent frame is inertial + // (all parent frames up to ground truth). + // + // Rotation_yaw_pitch_roll(#orientation (t)) := + // Rotation_yaw_pitch_roll(#orientation_rate + // *dt)*Rotation_yaw_pitch_roll(#orientation (t-dt)) + // + // \note #orientation (t) is \b not equal #orientation + // (t-dt)+#orientation_rate *dt + // + optional Orientation3d orientation_acceleration = 8; } From e6a7e67dce695577997ac5a924bec0388d7f8008 Mon Sep 17 00:00:00 2001 From: Thomas Breitenberger Date: Wed, 19 Dec 2018 16:20:12 +0100 Subject: [PATCH 2/3] Added formulars in description as @LudwigFriedmannBMW suggested --- osi_common.proto | 23 +++++++++++++---------- 1 file changed, 13 insertions(+), 10 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index 0da17139a..50d337845 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -366,12 +366,15 @@ message BaseMoving // The orientation becomes global/absolute if the parent frame is inertial // (all parent frames up to ground truth). // - // Rotation_yaw_pitch_roll(#orientation (t)) := - // Rotation_yaw_pitch_roll(#orientation_rate - // *dt)*Rotation_yaw_pitch_roll(#orientation (t-dt)) + // orientation.yaw(t) = orientation_rate.yaw(t) * dt + orientation.yaw(t-dt) // - // \note #orientation (t) is \b not equal #orientation - // (t-dt)+#orientation_rate *dt + // orientation.pitch(t) = orientation_rate.pitch(t) * dt + orientation.pitch(t-dt) + // + // orientation.roll (t) = orientation_rate.roll(t) * dt + orientation.roll(t-dt) + // + + // + // // optional Orientation3d orientation_rate = 6; @@ -402,12 +405,12 @@ message BaseMoving // The orientation becomes global/absolute if the parent frame is inertial // (all parent frames up to ground truth). // - // Rotation_yaw_pitch_roll(#orientation (t)) := - // Rotation_yaw_pitch_roll(#orientation_rate - // *dt)*Rotation_yaw_pitch_roll(#orientation (t-dt)) + // orientation_rate.yaw(t) = orientation_acceleration.yaw(t) * dt + orientation_rate.yaw(t-dt) + // + // orientation_rate.pitch(t)= orientation_acceleration.pitch(t) * dt + orientation_rate.pitch(t-dt) // - // \note #orientation (t) is \b not equal #orientation - // (t-dt)+#orientation_rate *dt + // orientation_rate.roll(t) = orientation_acceleration.roll(t) * dt + orientation_rate.roll(t-dt) // + // optional Orientation3d orientation_acceleration = 8; } From 1b2453c3cbc4d951b9aa61dde67dfd73ed2f1b9f Mon Sep 17 00:00:00 2001 From: Carlo van Driesten Date: Thu, 20 Dec 2018 12:04:39 +0100 Subject: [PATCH 3/3] Corrected Documentation --- osi_common.proto | 17 ++++++----------- 1 file changed, 6 insertions(+), 11 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index 6337d7735..88618365c 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -370,15 +370,11 @@ message BaseMoving // The orientation becomes global/absolute if the parent frame is inertial // (all parent frames up to ground truth). // - // orientation.yaw(t) = orientation_rate.yaw(t) * dt + orientation.yaw(t-dt) + // orientation.yaw(t) := orientation_rate.yaw(t) * dt + orientation.yaw(t-dt) // - // orientation.pitch(t) = orientation_rate.pitch(t) * dt + orientation.pitch(t-dt) + // orientation.pitch(t) := orientation_rate.pitch(t) * dt + orientation.pitch(t-dt) // - // orientation.roll (t) = orientation_rate.roll(t) * dt + orientation.roll(t-dt) - // - - // - // + // orientation.roll(t) := orientation_rate.roll(t) * dt + orientation.roll(t-dt) // optional Orientation3d orientation_rate = 6; @@ -409,12 +405,11 @@ message BaseMoving // The orientation becomes global/absolute if the parent frame is inertial // (all parent frames up to ground truth). // - // orientation_rate.yaw(t) = orientation_acceleration.yaw(t) * dt + orientation_rate.yaw(t-dt) + // orientation_rate.yaw(t) := orientation_acceleration.yaw(t) * dt + orientation_rate.yaw(t-dt) // - // orientation_rate.pitch(t)= orientation_acceleration.pitch(t) * dt + orientation_rate.pitch(t-dt) + // orientation_rate.pitch(t) := orientation_acceleration.pitch(t) * dt + orientation_rate.pitch(t-dt) // - // orientation_rate.roll(t) = orientation_acceleration.roll(t) * dt + orientation_rate.roll(t-dt) + // orientation_rate.roll(t) := orientation_acceleration.roll(t) * dt + orientation_rate.roll(t-dt) // - // optional Orientation3d orientation_acceleration = 8; }