Use a common StatePoint definition

For all trajectory-like objects.

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

Author: caspar-ai

osi_common.proto

@@ -457,3 +457,33 @@ message BaseMoving
     //
     repeated Vector2d base_polygon = 7;
 }
+
+//
+// \brief The StatePoint definition
+//
+// A reference to a time and pose.  Typically used in a repeated field to define
+// a trajectory.
+//
+// \note The StatePoint definition does not define mandatory fields.
+// The context defines how and what fields are used.  For example, in some cases
+// only the pose variables are relevant and the timestamp is ignored.
+//
+message StatePoint
+{
+    // The timestamp of a StatePoint
+    //
+    // \note Zero time point does not need to coincide with the UNIX epoch.
+    //
+    optional Timestamp timestamp = 1;
+
+    // Position in the global coordinate system.
+    //
+    // \note Remark: The definition of the reference point follows the
+    // specification of the \c BaseMoving message.
+    //
+    optional Vector3d position = 2;
+
+    // Orientation in the global coordinate system.
+    //
+    optional Orientation3d orientation = 3;
+}

osi_trafficcommand.proto

@@ -100,36 +100,6 @@ message TrafficAction
     optional EndActionsAction end_actions_action = 7; 
 }
 
-//
-// \brief The StatePoint definition
-//
-// \note The StatePoint definition does not define mandatory fields.
-// The context defines how and what fields are used.
-// For example: FollowPathAction does not use timestamp in contrast to
-// FollowTrajectoryAction. 
-//
-message StatePoint
-{
-    // The timestamp of a StatePoint
-    //
-    // \note Zero time point does not need to coincide with the UNIX epoch.
-    //
-    optional Timestamp timestamp = 1;
-
-    // Position in the global coordinate system.
-    //
-    // The position refers to the center (x,y,z) of the bounding box.
-    //
-    // \note Remark: The definition of the reference point follows the
-    // specification of the \c BaseMoving message.
-    //
-    optional Vector3d position = 2;
-
-    // Orientation in the global coordinate system.
-    //
-    optional Orientation3d orientation = 3;
-}
-
 //
 // \brief The ActionHeader
 //

osi_trafficupdate.proto

@@ -72,30 +72,6 @@ message TrafficUpdate
         // behaviours without performing prediction for all external traffic
         // participants.
         //
-        repeated FutureTrajectoryNode future_trajectory = 2;
-
-        //
-        // \brief The future node is a single point in time as part of a future
-        // trajectory which defines the pose, velocity, acceleration, etc. at
-        // that point.
-        // See the FutureTrajectory message for details and context.
-        //
-        message FutureTrajectoryNode
-        {
-            // The future timestamp for the trajectory node. Zero time is arbitrary
-            // but must be identical for all messages. Zero time does not need to
-            // coincide with the UNIX epoch. Recommended is the starting time point of
-            // the simulation.
-            //
-            // \note This must be in the future compared to the timestamp in the top
-            // level traffic update message.
-            //
-            optional Timestamp timestamp = 1;
-
-            // Traffic participant data for the future trajectory node.
-            //
-            // \note Dimensions and base polygon are ignored.
-            optional BaseMoving future_point = 2;
-        }
+        repeated StatePoint future_trajectory = 2;
     }
 }