Move the future-trajectory inside moving object

To allow easier propagation of trajectories to allow traffic participants
outside the simulator.

Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai>

Author: caspar-ai

osi_object.proto

@@ -338,6 +338,18 @@ message MovingObject
     //
     optional string model_reference = 7;
 
+    // The trajectory that this moving object expects to follow in the future.
+    //
+    // This is not externally perceivable information, rather this is to aid
+    // realistic simulation of agents not under test.  This information should
+    // not be made available to the stack under test.
+    //
+    // \note Moving objects are not required to stick to this trajectory, it is
+    // indicative, and equivalent to the output of a perception + prediction
+    // system.
+    //
+    repeated StatePoint future_trajectory = 8;
+
     // Definition of object types.
     //
     enum Type

osi_trafficupdate.proto

@@ -10,8 +10,8 @@ package osi3;
 
 //
 // \brief The traffic update message is provided by traffic
-// participant models to provide updates to their position and
-// state back to the simulation environment.
+// participant models to provide updates to their position, state
+// and future trajectory back to the simulation environment.
 //
 // \note For reasons of convenience and consistency, the
 // updated information is provided as a MovingObject.  Certain fields
@@ -40,37 +40,10 @@ message TrafficUpdate
 
     // Updated traffic participant data
     //
-    repeated TrafficParticipantUpdate traffic = 3;
-
-    // \brief Data for a single traffic participant to update the simulator.
-    //
-    // It includes an immediate update for the current timestamp reported in
-    // parent traffic update message which can include the full detail of a
-    // moving object message.
+    // \note Only the id, base member (without dimension and base_polygon),
+    // and the vehicle_classification.light_state members are considered in
+    // updates, all other members can be left undefined, and will be
+    // ignored by the receiver of this message.
     //
-    // The future trajectory is deliberately more sparse as much of the detail
-    // won't be known for all future points.
-    //
-    message TrafficParticipantUpdate
-    {
-        // Updated moving object
-        //
-        // \note Only the following members are considered in updates: id, base member 
-        // without dimension and base_polygon and the vehicle_classification.light_state.
-        // All other members can be left undefined and will be
-        // ignored by the receiver of this message.
-        //
-        optional MovingObject update = 1;
-
-        // The future trajectory message is to allow traffic participants to
-        // indicate to the simulator their current expectations of where they plan to
-        // be in the future.
-        //
-        // \note Traffic participants aren't required to stick precisely to this future
-        // trajectory.  It is to allow the simulator to provide realistic agent
-        // behaviours without performing prediction for all external traffic
-        // participants.
-        //
-        repeated StatePoint future_trajectory = 2;
-    }
+    repeated MovingObject traffic = 3;
 }