Merge branch 'feature/sm/sensorviewconfig-extension' of https://github.com/OpenSimulationInterface/open-simulation-interface into feature/sm/sensorviewconfig-extension

Author: Kmeid Saad

CMakeLists.txt

@@ -66,6 +66,8 @@ set(OSI_PROTO_FILES
     osi_hostvehicledata.proto
     osi_trafficsign.proto
     osi_trafficlight.proto
+    osi_trafficupdate.proto
+    osi_trafficcommand.proto
     osi_roadmarking.proto
     osi_lane.proto
     osi_featuredata.proto

doc/osifiles.rst

@@ -38,6 +38,12 @@ OSI common provides the building blocks for the OSI field messages.
 `osi_hostvehicledata.proto`_
 ---------------------------------
 
+`osi_trafficcommand.proto`_
+---------------------------------
+
+`osi_trafficupdate.proto`_
+---------------------------------
+
 `osi_trafficsign.proto`_
 ---------------------------------
 
@@ -91,4 +97,4 @@ OSI common provides the building blocks for the OSI field messages.
 .. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto
 .. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto
 .. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto
-.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto
+.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto

osi_groundtruth.proto

@@ -155,4 +155,20 @@ message GroundTruth
     // \note It is implementation-specific how map_reference is resolved.
     //
     optional string map_reference = 15;
+
+    // Opaque reference of an associated 3D model.
+    //
+    // The model covers the static parts of the environment that are not
+    // provided as individual models referenced from ground truth objects
+    // like moving or stationary objects.
+    //
+    // \note Origin and orientation of the model have to coincide with the
+    // inertial coordinate frame of the ground truth.
+    //
+    // \note It is implementation-specific how model_references are resolved to
+    // 3d models. The parts the world model contains are also implementation-specific.
+    // For example, the world model can wether contain street geometries or
+    // derives street geometies automatically from a map reference.
+    //
+    optional string model_reference = 16;
 }