.. _program_listing_file_osi-documentation_osi-validation_open-simulation-interface_osi_detectedtrafficlight.proto:

Program Listing for File osi_detectedtrafficlight.proto
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file_osi-documentation_osi-validation_open-simulation-interface_osi_detectedtrafficlight.proto>` (``osi-documentation/osi-validation/open-simulation-interface/osi_detectedtrafficlight.proto``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   syntax = "proto2";
   
   option optimize_for = SPEED;
   
   import "osi_common.proto";
   import "osi_trafficlight.proto";
   import "osi_detectedobject.proto";
   
   package osi3;
   
   //
   // \brief A traffic light in the environment as detected by the sensor.
   //
   // \image html OSI_DetectedTrafficLight.svg
   //
   // One detected traffic light message defines a single 'bulb' and not a box of
   // several bulbs, e.g. red, yellow, green are three separate detected traffic
   // lights.
   //
   message DetectedTrafficLight
   {
       // Common information of one detected item.
       //
       optional DetectedItemHeader header = 1;
   
       // The base parameters of the traffic light.
       //
       // \c BaseStationary::orientation x-axis is view normal of the traffic
       // light's icon.
       //
       optional BaseStationary base = 2;
   
       // The root mean squared error of the base parameters of the detected
       // traffic light's geometry. \c TrafficLight::base has to be identical
       // for all \c #candidate traffic lights.
       //
       optional BaseStationary base_rmse = 3;
   
       // A list of candidates for this traffic light as estimated by the
       // sensor.
       //
       // \note OSI uses singular instead of plural for repeated field names.
       //
       repeated CandidateTrafficLight candidate = 4;
   
       //
       // \brief A candidate for a detected traffic light as estimated by
       // the sensor.
       //
       message CandidateTrafficLight
       {
           // The estimated probability that this candidate is the true value.
           //
           // \note The sum of all \c #probability must be one. This probability is
           // given under the condition of
           // \c DetectedItemHeader::existence_probability.
           //
           // Range: [0,1]
           //
           optional double probability = 1;
   
           // The classification of one traffic light that define this candidate.
           //
           // \note IDs, which are referenced in this message, usually
           // reference to \c DetectedXXX::tracking_id IDs.
           //
           optional TrafficLight.Classification classification = 2;
       }
   }