From 45cd7f136fdff6ec2a77e4d79a48802a40e280e6 Mon Sep 17 00:00:00 2001 From: Dennis Otte Date: Sun, 17 Dec 2023 23:30:44 +0100 Subject: [PATCH] feat[code]: extend DetectedMovingObject with estimated trajectory refers to OpenSimulationInterface#751 Extends the DetectedMovingObject with a series of StatePoints to describe an estimated future trajectory. Signed-off-by: Dennis Otte --- osi_detectedobject.proto | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/osi_detectedobject.proto b/osi_detectedobject.proto index d651b949e..80af7a8de 100644 --- a/osi_detectedobject.proto +++ b/osi_detectedobject.proto @@ -86,6 +86,7 @@ message DetectedItemHeader MEASUREMENT_STATE_PREDICTED = 3; } } + // // \brief A stationary object (e.g. landmark) in the environment as detected by @@ -264,6 +265,14 @@ message DetectedMovingObject // optional ColorDescription color_description = 9; + // Estimated future trajectory + // + // \note The timestamp of the StatePoint denotes a future point in time, + // when the detected moving object is expected to reach the position and + // orientation of the trajectory point. + // + repeated StatePoint estimated_trajectory = 10; + // Additional data that is specific to radar sensors. // // \note Field needs not to be set if simulated sensor is not a radar