implemented decisions from last CCB-meeting

Signed-off-by: Pierre R. Mai <pmai@pmsf.de>

Author: Habedank Clemens

osi_trafficcommand.proto

@@ -56,12 +56,11 @@ message TrafficCommand
 // The actual commands being transmitted are the atomic traffic actions
 // described by this message.
 //
-// \note This message is notionally a choice selection, i.e. only one
-// of the multiple optional fields in it must be set at any time.
-// It is not defined as a one of field, since this is not currently
-// used in OSI message definitions for portability reasons.  From
-// an API point of view this results in the same generated interface,
-// but without the better enforcement of the restriction on the wire.
+// \note This message is notionally a multiple choice selection, i.e. only 
+// certain combinations of atomic traffic actions shall be transmitted within 
+// certain time intervals (e.g. for plausibity reasons). The restrictions 
+// regarding that are not part of this message, yet are seen as a task of the 
+// scenario description (e.g. OpenSCENARIO). 
 //
 message TrafficAction
 {
@@ -319,23 +318,27 @@ message LaneChangeAction
     //
     optional int32 relative_target_lane = 2;
 
-    // Specified shape of the lane change action. This is optional: 
-    // If no dynamics shape is given, the shape of the lane change is 
-    // open to the traffic participant model.
+    // Specified shape of the lane change action. 
+    // If the shape is unspecified (enum value 0), the shape of the 
+    // lane change is open to the traffic participant model. 
     //
     optional DynamicsShape dynamics_shape = 3;
 
-    // Duration of the lane change. This is optional: 
-    // If no duration is given, the duration of the lane change is 
-    // open to the traffic participant model.
+    // Duration of the lane change.
+    // 
+    // A value of 0.0 (the default value) will impose no constraint
+    // on the duration, unless the dynamics shape is a step function,
+    // where an immediate step is effected.
     //
     // Unit: s
     //
     optional double duration = 4; 
 
-    // Distance of the lane change. This is optional: 
-    // If no distance is given, the distance of the lane change is 
-    // open to the traffic participant model.
+    // Distance of the lane change.
+    // 
+    // A value of 0.0 (the default value) will impose no constraint
+    // on the distance, unless the dynamics shape is a step function,
+    // where an immediate step is effected.
     //
     // Unit: m
     //
@@ -370,12 +373,8 @@ message LaneChangeAction
 //
 // \brief Speed Action.
 //
-// This action assigns a targeted speed to a traffic participant. To avoid 
-// contradictory constraints, it shall not be sent if the traffic participant
-// is under impact of a FollowTrajectoryAction. Yet, it may be sent if the 
-// traffic particpiant is under impact of a FollowPathAction, 
-// AcquireGlobalPositionAction or LaneChangeAction.
-// Furthermore, the action can be constrained by specifying the dynamics 
+// This action assigns a targeted speed to a traffic participant. 
+// The action can be constrained by specifying the dynamics 
 // shape or even the duration and the distance of the acceleration / 
 // deceleration process.
 //
@@ -394,23 +393,27 @@ message SpeedAction
     //
     optional double absolute_target_speed = 2;
 
-    // Specified transition shape of the speed change. This is optional: 
-    // If no dynamics shape is given, the transition is 
-    // open to the traffic participant model.
+    // Specified transition shape of the speed change action. 
+    // If the shape is unspecified (enum value 0), the shape of the 
+    // speed change is open to the traffic participant model. 
     //
     optional DynamicsShape dynamics_shape = 3;
 
-    // Specified duration of the speed change. This is optional: 
-    // If no duration is given, the duration of the transition is 
-    // open to the traffic participant model.
+    // Duration of the speed change.
+    // 
+    // A value of 0.0 (the default value) will impose no constraint
+    // on the duration, unless the dynamics shape is a step function,
+    // where an immediate step is effected.
     //
     // Unit: s
     //
     optional double duration = 4; 
 
-    // Specified distance of the speed change. This is optional: 
-    // If no distance is given, the distance travelled while changing
-    // speed is open to the traffic participant model.
+    // Distance of the speed change.
+    // 
+    // A value of 0.0 (the default value) will impose no constraint
+    // on the distance, unless the dynamics shape is a step function,
+    // where an immediate step is effected.
     //
     // Unit: m
     //
@@ -441,4 +444,4 @@ message SpeedAction
         DYNAMICS_SHAPE_STEP = 4;
     }
 
-}
+}