Merge branch 'master' into bugfix/osi_object

Author: clemenshabedank

CMakeLists.txt

@@ -2,6 +2,9 @@ cmake_minimum_required(VERSION 3.5)
 
 project(open_simulation_interface)
 
+# set default compiler
+set(CMAKE_CXX_STANDARD 11)
+
 # Set a default build type if none was specified
 set(default_build_type "Release")
 if(EXISTS "${CMAKE_SOURCE_DIR}/.git")
@@ -71,6 +74,7 @@ set(OSI_PROTO_FILES
     osi_roadmarking.proto
     osi_lane.proto
     osi_featuredata.proto
+    osi_logicaldetectiondata.proto
     osi_object.proto
     osi_occupant.proto
     osi_sensordata.proto

doc/images/OSI_RotationRate.svg

@@ -56,6 +56,9 @@ OSI common provides the building blocks for the OSI field messages.
 `osi_featuredata.proto`_
 ---------------------------------
 
+`osi_logicaldetectiondata.proto`_
+---------------------------------
+
 `osi_object.proto`_
 ---------------------------------
 

doc/osifiles.rst

@@ -461,3 +461,33 @@ message BaseMoving
     //
     repeated Vector2d base_polygon = 7;
 }
+
+//
+// \brief The StatePoint definition
+//
+// A reference to a time and pose.  Typically used in a repeated field to define
+// a trajectory.
+//
+// \note The StatePoint definition does not define mandatory fields.
+// The context defines how and what fields are used.  For example, in some cases
+// only the pose variables are relevant and the timestamp is ignored.
+//
+message StatePoint
+{
+    // The timestamp of a StatePoint.
+    //
+    // \note Zero time does not need to coincide with the UNIX epoch.
+    //
+    optional Timestamp timestamp = 1;
+
+    // Position in the global coordinate system.
+    //
+    // \note Remark: The definition of the reference point follows the
+    // specification of the \c BaseMoving message.
+    //
+    optional Vector3d position = 2;
+
+    // Orientation in the global coordinate system.
+    //
+    optional Orientation3d orientation = 3;
+}

osi_common.proto

@@ -346,6 +346,12 @@ message Lane
         //
         optional RoadCondition road_condition = 11;
 
+        // The subtype of the lane. 
+        // 
+        // This subtype specifies a lane more concretely.
+        //
+        optional Subtype subtype = 12;
+
         // Definition of available lane types.
         //
         enum Type
@@ -377,6 +383,116 @@ message Lane
             TYPE_INTERSECTION = 4;
         }
 
+        // Definition of available lane subtypes, aligned with OpenDRIVE.
+        //        
+        enum Subtype
+        {
+            // Lane of unknown subtype. Do not use in ground truth.
+            //
+            SUBTYPE_UNKNOWN = 0;
+
+            // Any other subtype of lane.
+            //
+            SUBTYPE_OTHER = 1;
+
+            // A normal driving lane.
+            // Example: Lanes with IDs l1, l2, l3 and l4 in image \ref
+            // HighwayExit.
+            //
+            // Since it is intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_DRIVING.
+            //
+            SUBTYPE_NORMAL = 2;
+
+            // A lane that is designated for bicylists.
+            //
+            // Since it is not intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_NONDRIVING.
+            //
+            SUBTYPE_BIKING = 3;
+
+            // A lane that is designated for pedestrians (sidewalk).
+            //
+            // Since it is not intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_NONDRIVING.
+            //
+            SUBTYPE_SIDEWALK = 4;
+            
+            // A lane with parking spaces.
+            //
+            // Since it is not intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_NONDRIVING.
+            //
+            SUBTYPE_PARKING = 5;
+            
+            // A hard shoulder on motorways for emergency stops.
+            // Example: Lane l5 in image \ref
+            // HighwayExit.
+            //
+            // Since it is not intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_NONDRIVING.
+            //
+            SUBTYPE_STOP = 6;
+            
+            // A lane on which cars should not drive.
+            //
+            // Since it is not intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_NONDRIVING.
+            //
+            SUBTYPE_RESTRICTED = 7;
+            
+            // A hard border on the edge of a road.
+            //
+            // Since it is not intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_NONDRIVING.
+            //
+            SUBTYPE_BORDER = 8;
+            
+            // A soft border on the edge of a road.
+            //
+            // Since it is not intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_NONDRIVING.
+            //
+            SUBTYPE_SHOULDER = 9;
+            
+            // A deceleration lane in parallel to the main road.
+            // Example: Lane l6 in image \ref
+            // HighwayExit.
+            //
+            // Since it is intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_DRIVING.
+            //
+            SUBTYPE_EXIT = 10;
+            
+            // An acceleration lane in parallel to the main road.
+            //
+            // Since it is intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_DRIVING.
+            //
+            SUBTYPE_ENTRY = 11;
+            
+            // A ramp from rural or urban roads joining a motorway.
+            //
+            // Since it is intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_DRIVING.
+            //
+            SUBTYPE_ONRAMP = 12;
+            
+            // A ramp leading off a motorway onto rural or urban roads.
+            //
+            // Since it is intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_DRIVING.
+            //
+            SUBTYPE_OFFRAMP = 13;
+            
+            // A ramp that connect two motorways.
+            //
+            // Since it is intended to be used for normal automotive
+            // driving, it should be used in combination with TYPE_DRIVING.
+            //
+            SUBTYPE_CONNECTINGRAMP = 14;
+        }
+
         //
         // \brief The condition of the road surface.
         //