Merge branch 'master' into Suggestion/Remove_Relevant_Lane_and_Direction

jdsika · web-flow · commit 1bb4c6ff8bfb · 2018-03-28T10:10:41.000+02:00
diff --git a/.travis.yml b/.travis.yml
@@ -15,6 +15,8 @@ cache:
 
 # Handle dependencies in separate directory.
 before_install:
+    - TESTINST_DIR="${HOME}/dummy"
+    - mkdir -p "${TESTINST_DIR}"
     - DEPS_DIR="${HOME}/deps"
     - mkdir -p "${DEPS_DIR}"
     - cd "${DEPS_DIR}"
@@ -40,9 +42,11 @@ before_script:
 script:
     - mkdir -p build
     - cd build
-    - cmake -D CMAKE_PREFIX_PATH:PATH=${DEPS_DIR}/protobuf/install ..
+    - cmake -D CMAKE_PREFIX_PATH:PATH=${DEPS_DIR}/protobuf/install -D CMAKE_INSTALL_PREFIX:PATH=${TESTINST_DIR} ..
     - cmake --build .
     - cd ..
     - python test_cases.py
     - python setup.py build
     - python setup.py sdist
+    - cd build
+    - cmake --build . --target install
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -39,6 +39,9 @@ foreach(LINE ${VERSION_CONTENTS})
 endforeach()
 set(OPEN_SIMULATION_INTERFACE_VERSION ${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH})
 
+set(INSTALL_LIB_DIR ${INSTALL_LIB_DIR}/osi${VERSION_MAJOR})
+set(INSTALL_INCLUDE_DIR ${INSTALL_INCLUDE_DIR}/osi${VERSION_MAJOR})
+
 configure_file(osi_version.proto.in ${CMAKE_CURRENT_SOURCE_DIR}/osi_version.proto)
 
 find_package(Protobuf 2.6.1 REQUIRED)
@@ -105,7 +108,6 @@ install(TARGETS ${PROJECT_NAME}_pic
         EXPORT ${PROJECT_NAME}_targets
         ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib)
 
-
 add_library(${PROJECT_NAME} SHARED $<TARGET_OBJECTS:${PROJECT_NAME}_obj>)
 target_include_directories(${PROJECT_NAME}
     PUBLIC
@@ -141,7 +143,7 @@ install(FILES
 
 # Header files
 install(FILES ${PROTO_HEADERS}
-        DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
+        DESTINATION "${INSTALL_INCLUDE_DIR}")
 
 # Install the export set for use with the install-tree
 install(EXPORT ${PROJECT_NAME}_targets
diff --git a/VERSION b/VERSION
@@ -1,3 +1,3 @@
-VERSION_MAJOR = 2
-VERSION_MINOR = 2
-VERSION_PATCH = 0
+VERSION_MAJOR = 3
+VERSION_MINOR = 0
+VERSION_PATCH = 0
diff --git a/osi_common.proto b/osi_common.proto
@@ -2,7 +2,7 @@ syntax = "proto2";
 
 option optimize_for = SPEED;
 
-package osi;
+package osi3;
 
 
 //
diff --git a/osi_datarecording.proto b/osi_datarecording.proto
@@ -4,7 +4,7 @@ option optimize_for = SPEED;
 
 import "osi_sensordata.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief (Time) Series of \c SensorData messages that may be used for data
diff --git a/osi_detectedlandmark.proto b/osi_detectedlandmark.proto
@@ -6,7 +6,7 @@ import "osi_common.proto";
 import "osi_landmark.proto";
 import "osi_detectedobject.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief A traffic sign in the environment as detected by the sensor.
diff --git a/osi_detectedlane.proto b/osi_detectedlane.proto
@@ -6,7 +6,7 @@ import "osi_common.proto";
 import "osi_lane.proto";
 import "osi_detectedobject.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief A lane segment as detected by the sensor.
diff --git a/osi_detectedobject.proto b/osi_detectedobject.proto
@@ -7,7 +7,7 @@ import "osi_modelinternal.proto";
 import "osi_object.proto";
 import "osi_sensorspecific.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief Object in the environment as detected and perceived by the sensor.
diff --git a/osi_detectedoccupant.proto b/osi_detectedoccupant.proto
@@ -6,7 +6,7 @@ import "osi_common.proto";
 import "osi_occupant.proto";
 import "osi_detectedobject.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief A vehicle occupant as detected and perceived by an interior sensor.
diff --git a/osi_environment.proto b/osi_environment.proto
@@ -2,7 +2,7 @@ syntax = "proto2";
 
 option optimize_for = SPEED;
 
-package osi;
+package osi3;
 
 //
 // \brief The conditions of the environment.
diff --git a/osi_featuredata.proto b/osi_featuredata.proto
@@ -4,7 +4,7 @@ option optimize_for = SPEED;
 
 import "osi_common.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief Interface for sensor data, in contrast to interpreted data after
diff --git a/osi_groundtruth.proto b/osi_groundtruth.proto
@@ -10,7 +10,7 @@ import "osi_lane.proto";
 import "osi_object.proto";
 import "osi_occupant.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief The ground truth information from the simulation environment.
diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
@@ -4,7 +4,7 @@ option optimize_for = SPEED;
 
 import "osi_common.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief Interface for host vehicle data that is available to sensors and
diff --git a/osi_landmark.proto b/osi_landmark.proto
@@ -4,7 +4,7 @@ option optimize_for = SPEED;
 
 import "osi_common.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief A traffic sign.
diff --git a/osi_lane.proto b/osi_lane.proto
@@ -4,7 +4,7 @@ option optimize_for = SPEED;
 
 import "osi_common.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief A lane in the road network.
diff --git a/osi_modelinternal.proto b/osi_modelinternal.proto
@@ -5,7 +5,7 @@ option optimize_for = SPEED;
 import "osi_featuredata.proto";
 import "osi_object.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief Additional internal data and state flags for \c SensorData objects.
diff --git a/osi_object.proto b/osi_object.proto
@@ -4,7 +4,7 @@ option optimize_for = SPEED;
 
 import "osi_common.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief A vehicle (host or other).
@@ -34,6 +34,8 @@ message Vehicle
 
     // The base parameters of the vehicle (as a characteristic moving object).
     //
+    // \note The bounding box includes mirrors.
+    //
     optional BaseMoving base = 2;
 
     // The type of the vehicle.
@@ -91,6 +93,18 @@ message Vehicle
     // through.
     optional double ground_clearance = 12;
 
+    // Median radius of the wheels.
+    //
+    // Unit: [m]
+    //    
+    optional double radius_wheel = 13;
+    
+    // Number of independent wheels.
+    //
+    // Unit: []
+    //    
+    optional uint32 number_wheels = 14;
+
     // Definition of vehicle types.
     //
     enum Type
@@ -102,26 +116,72 @@ message Vehicle
         // Other (unspecified but known) type of vehicle.
         //
         TYPE_OTHER = 1;
+        
+        // Vehicle is a small car.
+        //
+        // Definition:
+        //
+        TYPE_SMALL_CAR = 2;
+        
+        // Vehicle is a medium car.
+        //
+        // Definition:
+        //
+        TYPE_MEDIUM_CAR = 3;
+        
+        // Vehicle is a compact car.
+        //
+        // Definition:
+        //
+        TYPE_COMPACT_CAR = 4;
+        
+        // Vehicle is a luxury  car.
+        //
+        // Definition:
+        //
+        TYPE_LUXURY_CAR = 5;
+        
+        // Vehicle is a delivery van.
+        //
+        // Definition:
+        //
+        TYPE_DELIVERY_VAN = 6;
 
-        // Vehicle is a normal car.
+        // Vehicle is a heavy truck.
         //
-        TYPE_CAR = 2;
+        TYPE_HEAVY_TRUCK = 7;
 
-        // Vehicle is a truck, bus, or large van.
+        // Vehicle is a truck with semitrailer.
         //
-        TYPE_TRUCK = 3;
+        TYPE_SEMITRAILER = 8;
+        
+        // Vehicle is a trailer (possibly attached to another vehicle).
+        //
+        TYPE_TRAILER = 9;
 
         // Vehicle is a motorbike or moped.
         //
-        TYPE_MOTORBIKE = 4;
+        TYPE_MOTORBIKE = 10;
 
         // Vehicle is a bicycle (without motor and specific lights).
         //
-        TYPE_BICYCLE = 5;
+        TYPE_BICYCLE = 11;
 
-        // Vehicle is a trailer (possibly attached to another vehicle).
+        // Vehicle is a bus.
+        //
+        TYPE_BUS = 12;
+
+        // Vehicle is a tram.
+        //
+        TYPE_TRAM = 13;
+
+        // Vehicle is a train.
+        //
+        TYPE_TRAIN = 14;
+
+        // Vehicle is a wheelchair.
         //
-        TYPE_TRAILER = 6;
+        TYPE_WHEELCHAIR = 15;
     }
 
     //
@@ -204,7 +264,7 @@ message Vehicle
 
             // Light is off.
             //
-             GENERIC_LIGHT_STATE_OFF = 2;
+            GENERIC_LIGHT_STATE_OFF = 2;
 
             // Light is on.
             //
@@ -332,5 +392,29 @@ message StationaryObject
         // Object is a delineator (e.g. at a construction site).
         //
         TYPE_DELINEATOR = 6;
+        
+        // Object is a pole.
+        //
+        TYPE_POLE = 2000;
+        
+        // Object is a tree.
+        //
+        TYPE_TREE = 2001;
+        
+        // Object is a barrier.
+        //
+        TYPE_BARRIER = 2002;
+        
+        // Object is vegetation.
+        //
+        TYPE_VEGETATION = 2003;
+        
+        // Object is a curbstone.
+        //
+        TYPE_CURBSTONE = 2004;
+        
+        // Object is a wall.
+        //
+        TYPE_WALL = 2005;
     }
 }
diff --git a/osi_occupant.proto b/osi_occupant.proto
@@ -4,7 +4,7 @@ option optimize_for = SPEED;
 
 import "osi_common.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief An occupant of a host vehicle, especially the driver of the vehicle.
diff --git a/osi_sensordata.proto b/osi_sensordata.proto
@@ -11,7 +11,7 @@ import "osi_detectedoccupant.proto";
 import "osi_sensorview.proto";
 import "osi_featuredata.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief The sensor information derived from \c GroundTruth and processed by
diff --git a/osi_sensorspecific.proto b/osi_sensorspecific.proto
@@ -4,7 +4,7 @@ option optimize_for = SPEED;
 
 import "osi_common.proto";
 
-package osi;
+package osi3;
 
 //
 // \brief Message encapsulates all data for detected objects that is specific to
diff --git a/osi_sensorview.proto b/osi_sensorview.proto
diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto
diff --git a/osi_version.proto.in b/osi_version.proto.in
diff --git a/setup.py b/setup.py
