Struct MovingObject::VehicleAttributes

Nested Relationships

This struct is a nested type of Struct MovingObject.

Struct Documentation

struct VehicleAttributes

The vehicle attributes for MovingObject (host or other).

This is an extension to the MovingObject with additional attributes, such as type and lights. The origin of the rear (front) axis coordinate system in world coordinates is calculated as: MovingObject::base . BaseMoving::position + R * MovingObject::VehicleAttributes::bbcenter_to_rear (front) for the host vehicle (R rotates from vehicle to world frame, i.e. inverse orientation of MovingObject::base . BaseMoving::orientation).

For all vehicles, including host vehicles, the position given in MovingObject::base . BaseMoving::position points to the center of the vehicle’s bounding box.

The vehicle object coordinates are defined as x-axis is the direction from rear to front of the vehicle, y-axis corresponds to rear axle and z-axis points to vehicle ceiling [1]. The coordinate system is right-handed. Therefore the positive y-axis points to the left of the vehicle.

References:

  • [1] DIN ISO 8855:2013-11

Public Members

optional Identifier osi3::MovingObject::VehicleAttributes::driver_id = 1

The ID of the driver of the (host) vehicle.

Note

Field need not be set if host_vehicle is set to false or use value for non valid id.

optional double osi3::MovingObject::VehicleAttributes::radius_wheel = 2

Median radius of the wheels measured from a center of the wheel including tire.

Unit: [m]

optional uint32 osi3::MovingObject::VehicleAttributes::number_wheels = 3

Number of independent wheels.

Unit: []

optional Vector3d osi3::MovingObject::VehicleAttributes::bbcenter_to_rear = 4

The vector pointing from the bounding box center point (MovingObject::base . BaseMoving::position) to the middle (in x, y and z) of the rear axle under neutral load conditions. In object coordinates.

optional Vector3d osi3::MovingObject::VehicleAttributes::bbcenter_to_front = 5

The vector pointing from the bounding box center point (MovingObject::base . BaseMoving::position) to the middle (in x, y and z) of the front axle under neutral load conditions. In object coordinates.

optional double osi3::MovingObject::VehicleAttributes::ground_clearance = 6

Static minimal distance in [m] of under-body plane to ground surface plane (i.e. disregarding driving dynamic effects or road surface effects) under neutral load conditions. Can be useful to approximate the clear area under a vehicle that a sensor can see through.