The message StatePoint should be extended by fields for velocity, acceleration, orientation and orientation rate.
To sufficiently express a planned trajectory as created by a route planer we need to communicate time, position, orientation, acceleration, orientation and orientation rate. The proposed changes cover the minimum we found to be necessary for a cosimulation of a route planer and an environment simulation to communicate the resulting trajectory of the planing software using OSI.
Describe alternatives you have considered
The existing message MotionRequest fits the use case quiete well. But the current implementation for the trajectory only covers time, position and orientation.
Describe the backwards compatibility
The proposed change adds optional fields to an existing message. No issues with backwards compatibility expected.
Describe the feature
The message StatePoint should be extended by fields for velocity, acceleration, orientation and orientation rate.
To sufficiently express a planned trajectory as created by a route planer we need to communicate time, position, orientation, acceleration, orientation and orientation rate. The proposed changes cover the minimum we found to be necessary for a cosimulation of a route planer and an environment simulation to communicate the resulting trajectory of the planing software using OSI.
Describe alternatives you have considered
The existing message MotionRequest fits the use case quiete well. But the current implementation for the trajectory only covers time, position and orientation.
Describe the backwards compatibility
The proposed change adds optional fields to an existing message. No issues with backwards compatibility expected.