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feat[code]: extend DetectedMovingObject with estimated trajectory #752

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feat[code]: extend DetectedMovingObject with estimated trajectory #752

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9 changes: 9 additions & 0 deletions osi_detectedobject.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,7 @@ message DetectedItemHeader
MEASUREMENT_STATE_PREDICTED = 3;
}
}


//
// \brief A stationary object (e.g. landmark) in the environment as detected by
Expand Down Expand Up @@ -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
Expand Down