From e153078bf437c16228c50cab801fe1372c790d34 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin Date: Mon, 19 Apr 2021 09:27:51 +0200 Subject: [PATCH 1/4] Describe top-level messages (#506) Signed-off-by: Maximilian Rosin --- doc/architecture/feature_data.adoc | 11 +++-------- doc/architecture/ground_truth.adoc | 17 +++++++++-------- doc/architecture/sensor_data.adoc | 11 ++++------- doc/architecture/sensor_view.adoc | 13 ++++++------- doc/architecture/sensor_view_configuration.adoc | 16 +++++++++------- 5 files changed, 31 insertions(+), 37 deletions(-) diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc index c1bd3ec51..f739be7d8 100644 --- a/doc/architecture/feature_data.adoc +++ b/doc/architecture/feature_data.adoc @@ -1,10 +1,5 @@ = Feature data -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Feature data contains detected features in the reference frame of a sensor. +Feature data is generated from ground-truth data. +It serves, for example, as input for sensor models simulating object detection or feature fusion models. diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index b15de8ab6..cbc983fa8 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -1,10 +1,11 @@ = Ground truth -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Ground truth describes the simulated environment around all simulated host vehicles in a global coordinate system. +Ground truth provides an exact view on the simulated objects in a global coordinate system. +It is based on internally available data and published to external subscribers. +Depending on the external subscriber, ground-truth data may be individually restricted. + +//TODO: It looks like we may have two conflicting descriptions here. +// I cannot tell which one is correct or if they are conflicting at all. +// The first sentence is based on the comments in the proto files. +// The second sentence is based on the description on Github pages. \ No newline at end of file diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index ef5164e41..1eb25af1a 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,9 +1,6 @@ = Sensor data -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Sensor data imitates the output of real sensors. +It is generated from ground-truth data, feature data or from sensor data. +All information regarding the environment is given with respect to the virtual sensor coordinate system, except for feature data, which is given with respect to the physical sensor coordinate system. +Sensor data can be used as input of an automated driving function, a sensor model simulating limited perception, or a sensor fusion model. diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index 1bdec6fc7..07c9ee0fd 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -1,9 +1,8 @@ = Sensor view -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Sensor view imitates the input of sensors. +Sensor-view data is derived from ground-truth data. +All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: + +* Individual physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position +* Ground truth data, given in global coordinates. \ No newline at end of file diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index c7e9f3f02..cde42c688 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,9 +1,11 @@ = Sensor view configuration -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +The sensor view configuration configures the sensor view. +It is provided by the environment simulation. +Sensor view configuration data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model. +Sensor view configuration data is not intended to provide parameters to a generic sensor model. + +Sensor view configuration data can also be provided by the sensor model to the environment simulation. +In that case, it describes the input configuration that is desired by the sensor model. +In response the environment simulation will configure the input and provide a new message which describes the actual configuration. +These two messages may differ, when the environment simulation does not support a given requested configuration or when the requested configuration allowed is ambiguous. From a55a65816aaf495e4fca67922d74b8d97dea9373 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin Date: Wed, 26 May 2021 16:22:43 +0200 Subject: [PATCH 2/4] feat(docs): Add traffic command and traffic update (#506) Signed-off-by: Maximilian Rosin --- doc/architecture/traffic_command.adoc | 3 +++ doc/architecture/traffic_update.adoc | 4 ++++ doc/open-simulation-interface_user_guide.adoc | 4 ++++ 3 files changed, 11 insertions(+) create mode 100644 doc/architecture/traffic_command.adoc create mode 100644 doc/architecture/traffic_update.adoc diff --git a/doc/architecture/traffic_command.adoc b/doc/architecture/traffic_command.adoc new file mode 100644 index 000000000..6e70b6bd4 --- /dev/null +++ b/doc/architecture/traffic_command.adoc @@ -0,0 +1,3 @@ += Traffic command + +Traffic commands contain control commands from the scenario engine to traffic participant models. \ No newline at end of file diff --git a/doc/architecture/traffic_update.adoc b/doc/architecture/traffic_update.adoc new file mode 100644 index 000000000..b8795e645 --- /dev/null +++ b/doc/architecture/traffic_update.adoc @@ -0,0 +1,4 @@ += Traffic update + +Traffic updates are provided by traffic participants. +They provide updates of the position, state and future trajectory of a traffic participant back to the simulation environment. \ No newline at end of file diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 287f8cbdf..c3d7f10be 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -40,6 +40,10 @@ include::./architecture/sensor_view_configuration.adoc[leveloffset=+3] include::./architecture/sensor_data.adoc[leveloffset=+3] +include::./architecture/traffic_command.adoc[leveloffset=+3] + +include::./architecture/traffic_update.adoc[leveloffset=+3] + === Model types include::./architecture/environmental_effect_model.adoc[leveloffset=+3] From 4ec0fc1f2ca9dc7e34d71112ba10f5f43f8b3104 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin Date: Thu, 10 Jun 2021 06:34:06 +0200 Subject: [PATCH 3/4] Implement review comments (#506) Signed-off-by: Maximilian Rosin --- doc/architecture/ground_truth.adoc | 12 +++--------- doc/architecture/sensor_data.adoc | 4 ++-- doc/architecture/sensor_view.adoc | 4 ++-- 3 files changed, 7 insertions(+), 13 deletions(-) diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index cbc983fa8..7ae617f47 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -1,11 +1,5 @@ = Ground truth -Ground truth describes the simulated environment around all simulated host vehicles in a global coordinate system. -Ground truth provides an exact view on the simulated objects in a global coordinate system. -It is based on internally available data and published to external subscribers. -Depending on the external subscriber, ground-truth data may be individually restricted. - -//TODO: It looks like we may have two conflicting descriptions here. -// I cannot tell which one is correct or if they are conflicting at all. -// The first sentence is based on the comments in the proto files. -// The second sentence is based on the description on Github pages. \ No newline at end of file +Ground truth describes the simulated environment around all simulated objects in the global coordinate system. +It is based on data available to the simulation environment and published to external subscribers. +Depending on the external subscriber, ground-truth data may be individually restricted to reduce the data to be exchanged. diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index 1eb25af1a..bcef34070 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,6 +1,6 @@ = Sensor data Sensor data imitates the output of real sensors. -It is generated from ground-truth data, feature data or from sensor data. +It is generated from ground-truth data, sensor-view data, feature data or from sensor data. All information regarding the environment is given with respect to the virtual sensor coordinate system, except for feature data, which is given with respect to the physical sensor coordinate system. -Sensor data can be used as input of an automated driving function, a sensor model simulating limited perception, or a sensor fusion model. +Sensor data can be used as input for an automated driving function, a sensor model simulating limited perception, or a sensor fusion model. diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index 07c9ee0fd..54f8fdd85 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -4,5 +4,5 @@ Sensor view imitates the input of sensors. Sensor-view data is derived from ground-truth data. All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: -* Individual physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position -* Ground truth data, given in global coordinates. \ No newline at end of file +* Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position. +* Ground-truth data, given in the global coordinate system. \ No newline at end of file From 3c2b9d505723dbca1feb43ea9833c9482215ced4 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin Date: Thu, 24 Jun 2021 11:26:07 +0200 Subject: [PATCH 4/4] fix(docs): Implement changes after review (#506) Signed-off-by: Maximilian Rosin --- doc/architecture/sensor_data.adoc | 5 +++-- .../sensor_view_configuration.adoc | 18 +++++++++++------- 2 files changed, 14 insertions(+), 9 deletions(-) diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index bcef34070..1db02ddc1 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,6 +1,7 @@ = Sensor data Sensor data imitates the output of real sensors. -It is generated from ground-truth data, sensor-view data, feature data or from sensor data. -All information regarding the environment is given with respect to the virtual sensor coordinate system, except for feature data, which is given with respect to the physical sensor coordinate system. +It can be generated from ground-truth data, sensor-view data, feature data or from sensor data. +Except feature data, all information regarding the environment is given with respect to the virtual sensor coordinate system. +Feature data is given with respect to the physical sensor coordinate system. Sensor data can be used as input for an automated driving function, a sensor model simulating limited perception, or a sensor fusion model. diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index cde42c688..a7ceca4ef 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,11 +1,15 @@ = Sensor view configuration The sensor view configuration configures the sensor view. -It is provided by the environment simulation. -Sensor view configuration data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model. -Sensor view configuration data is not intended to provide parameters to a generic sensor model. +There are two sources for sensor-view-configuration data. -Sensor view configuration data can also be provided by the sensor model to the environment simulation. -In that case, it describes the input configuration that is desired by the sensor model. -In response the environment simulation will configure the input and provide a new message which describes the actual configuration. -These two messages may differ, when the environment simulation does not support a given requested configuration or when the requested configuration allowed is ambiguous. +Sensor-view-configuration data can be provided by the environment simulation. +In this case, the data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model. +Sensor-view-configuration data is not intended to provide parameters to a generic sensor model. + +Sensor-view-configuration data can also be provided by the sensor model to the environment simulation. +In this case, the data describes the input configuration that is desired by the sensor model. +In response, the environment simulation will configure the input and provide a new message which describes the actual configuration. +The configuration requested by the sensor model may differ from the actual configuration. +This happens when the environment simulation does not support a given requested configuration or when the requested configuration allowed is ambiguous. +The message describing the requested configuration differs from the message describing the actual configuration.