Merge branch 'master' into feature/ha/new-color-models

Author: thomassedlmayer

osi_common.proto

@@ -143,25 +143,23 @@ message Dimension3d
 // Units are rad for orientation, rad/s for rates, and rad/s^2 for
 // accelerations
 //
-// The preferred angular range is [-pi, pi]. The coordinate system is defined as
-// right-handed.
+// The coordinate system is defined as right-handed.
 // For the sense of each rotation, the right-hand rule applies.
 //
 // The rotations are to be performed \b yaw \b first (around the z-axis),
 // \b pitch \b second (around the new y-axis) and \b roll \b third (around the
 // new x-axis) to follow the definition according to [1] (Tait-Bryan / Euler
-// convention z-y'-x'').
+// convention z-y'-x''). The preferred angular range is [-pi, pi] for roll 
+// and yaw and [-pi/2, pi/2] for pitch. 
 //
 // Roll/Pitch are 0 if the objects xy-plane is parallel to its parent's
 // xy-plane. Yaw is 0 if the object's local x-axis is parallel to its parent's
 // x-axis.
 //
 // \f$ Rotation_{yaw,pitch,roll} =
-// Rotation_{roll}*Rotation_{pitch}*Rotation_{yaw} \f$
+// Rotation_{yaw}*Rotation_{pitch}*Rotation_{roll} \f$
 //
-// \f$ vector_{\text{global coord system}} :=
-// Rotation_{yaw,pitch,roll}^{-1}( \f$ \c Orientation3d \f$
-// )*vector_{\text{local coord system}} + local_{origin}\text{::position} \f$
+// \f$ vector_{gobal coord system} := Rotation_{yaw, pitch, roll} * vector_{local coord system} +local_{origin::position} \f$
 //
 // \attention This definition changed in OSI version 3.0.0. Previous OSI
 // versions  (V2.xx) had an other definition.
@@ -553,6 +551,7 @@ message StatePoint
     //
     optional Orientation3d orientation = 3;
 }
+
 //
 // \brief Detailed WavelengthRange message.
 //
@@ -581,6 +580,39 @@ message WavelengthData
 }
 
 //
+// \brief Definition of a spatial signal strength distribution
+// for an emitting / transmitting / receiving entity
+// with a horizontal and a vertical angle
+// and the corresponding signal strength in dBm (decibels per milliwatt).
+//
+message SpatialSignalStrength
+{
+    // Horizontal angle (azimuth) of emission / transmission / reception
+    // in the entity's coordinate system.
+    //
+    // Unit: rad
+    //
+    optional double horizontal_angle = 1;
+
+    // Vertical angle (elevation) of emission / transmission / reception
+    // in the entity's coordinate system.
+    //
+    // Unit: rad
+    //
+    optional double vertical_angle = 2;
+
+    // Emitted / transmitted /received signal strength
+    // of the emitting / transmitting / receiving entity
+    // at the previously defined horizontal and
+    // vertical angle for one specific wavelength.
+    // The value for the signal strength
+    // is given in dBm (decibels per milliwatt).
+    //
+    // Unit: dBm
+    //
+    optional double signal_strength = 3;
+}
+
 // \brief The description of a color within available color spaces.
 //
 // ColorDescription represents the visual, non-semantic appearance of an object, structure or feature within various available color spaces.

osi_object.proto

@@ -104,6 +104,10 @@ message StationaryObject
         //
         optional Color color = 4;
 
+        // The attributes of the emitting structure if stationary object is classified as such.
+        //
+        optional EmittingStructureAttribute emitting_structure_attribute = 5;
+
         // Definition of object types.
         //
         enum Type
@@ -171,8 +175,8 @@ message StationaryObject
             //
             TYPE_OVERHEAD_STRUCTURE = 14;
 
-            // Landmarks corresponding to light sources or reflective structures
-            // in the environment, like street lights or reflective poles on the
+            // Landmarks corresponding to reflective structures
+            // in the environment, like reflective poles on the
             // road boarder.
             //
             TYPE_REFLECTIVE_STRUCTURE = 15;
@@ -185,6 +189,11 @@ message StationaryObject
             // Object is a speed bump.
             //
             TYPE_SPEED_BUMP = 17;
+
+            // Landmarks corresponding to sources of electromagnetic waves
+            // in the environment, like street lights.
+            //
+            TYPE_EMITTING_STRUCTURE = 18;
         }
 
         // Definition of material types.
@@ -315,6 +324,26 @@ message StationaryObject
             //
             COLOR_WHITE = 10;
         }
+
+        //
+        // \brief Attributes of type emitting structure. The horizontal_angle and the vertical_angle in
+        // emitted_spatial_intensity are symmetrical across the normal, which is defined by the mounting position
+        // of the emitting structure.
+        //
+        message EmittingStructureAttribute
+        {
+            // This message determines the range of the emitted wavelength and its
+            // desired number of samples.
+            //
+            repeated WavelengthData wavelength_data = 1;
+
+            // Spatial signal strength distribution of the emitted electromagnetic wave.
+            // For every sample in wavelength_data an emitted_spatial_signal_strength has to be defined.
+            //
+            // \note emitted_spatial_signal_strength.size() = WavelengthData.samples_number.size()
+            //
+            repeated SpatialSignalStrength emitted_spatial_signal_strength = 3;
+        }
     }
 }