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Stefan Cyliax
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Merge pull request #596 from OpenSimulationInterface/rework-open-simulation-interface
Rework open simulation interface
2 parents a5f90fd + f4cb186 commit f3df2e6

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‎doc/architecture/environmental_effect_model.adoc‎

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= Environmental effect model
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Environmental effect models consume sensor-view messages and produce sensor-view messages.
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Environmental effect models may, for example, alter sensor-view messages to include effects and phenomena caused by:
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Environmental effect models consume `SensorView` messages and produce `SensorView` messages.
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Environmental effect models may, for example, alter `SensorView` messages to include effects and phenomena caused by:
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* Shadows and occlusions
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* Weather effects
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* Physics of a sensor
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* Pre-processing of raw sensor data
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* Pre-processing of raw sensor data

‎doc/architecture/feature_data.adoc‎

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= Feature data
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Feature-data messages contain detected features in the reference frame of a sensor.
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Feature-data messages are generated from ground-truth messages.
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`FeatureData` messages contain detected features in the reference frame of a sensor.
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`FeatureData` messages are generated from `GroundTruth` messages.
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They serve, for example, as an input to sensor models simulating object detection or feature fusion models.

‎doc/architecture/formatting_scripts.adoc‎

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**Related topics**
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* <<#top-1a2f4b0c-195c-4f18-89ad-d48a123bd8c1>>[OSI trace file formats]
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* <<_osi_trace_file_formats>>

‎doc/architecture/ground_truth.adoc‎

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= Ground truth
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Ground-truth messages describe the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances.
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`GroundTruth` messages describe the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances.
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They are based on data available to the simulation environment.
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Ground-truth messages are typically contained in sensor view messages.
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`GroundTruth` messages are typically contained in `Sensorview` messages.

‎doc/architecture/logical_model.adoc‎

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= Logical model
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Logical models consume sensor-data messages and produce sensor-data messages.
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Logical models consume `SensorData` messages and produce `SensorData` messages.
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An example of a logical model is a sensor-fusion model, which combines the output of multiple sensor models to produce data with less uncertainty.
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Another use case is the fault-injection model which, contrary to a sensor-fusion model, may be used to increase uncertainties.

‎doc/architecture/sensor_data.adoc‎

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= Sensor data
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Sensor-data messages imitate the output of real sensors.
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They can be generated from ground-truth messages, sensor-view messages, feature-data messages, or sensor-data messages.
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`SensorData` messages imitate the output of real sensors.
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They can be generated from `GroundTruth` messages, `SensorView` messages, `FeatureData` messages, or `SensorData` messages.
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With the exception of feature data, all information regarding the environment is given with respect to the virtual sensor coordinate system.
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Feature data is given with respect to the physical sensor coordinate system.
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Sensor data can be used as input for an automated driving function, a sensor model simulating limited perception, or a sensor fusion model.

‎doc/architecture/sensor_model.adoc‎

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= Sensor model
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Sensor models consume sensor-view messages and produce sensor-data messages.
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Sensor models consume `SensorView` messages and produce `SensorData` messages.
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Sensor-model output does not represent raw data but detected features or classified objects.

‎doc/architecture/sensor_view.adoc‎

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= Sensor view
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The sensor view provides the input to OSI sensor models.
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Sensor-view messages are derived from ground-truth messages.
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`SensorView` messages are derived from `GroundTruth` messages.
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All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions:
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* Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor's mounting position.

‎doc/architecture/sensor_view_configuration.adoc‎

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= Sensor view configuration
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= Sensor-view configuration
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The sensor view is flexibly defined to provide different kinds of sensor models with an appropriate input.
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The sensor view configuration defines the configuration of a particular sensor view.
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The sensor-view configuration defines the configuration of a particular sensor view.
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The sensor-view-configuration message is used in the initialization phase of a simulation to negotiate the sensor view configuration for a particular sensor view input.
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It is also included as a sub-message in sensor view messages to indicate that the sensor view configuration is valid for a particular sensor view message.
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The `SensorViewConfiguration` message is used in the initialization phase of a simulation to negotiate the sensor-view configuration for a particular `SensorView` input.
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It is also included as a sub-message in `SensorView` messages to indicate that the sensor-view configuration is valid for a particular `SensorView` message.
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Sensor-view-configuration data has two main applications:
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`SensorViewConfiguration` data has two main applications:
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- Enable the environment simulation to provide the necessary input to a sensor model.
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- Enable a sensor model to check whether the input matches its requirements.
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* Enable the environment simulation to provide the necessary input to a sensor model.
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* Enable a sensor model to check whether the input matches its requirements.
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If the input does not match the requirements, the sensor model may terminate the simulation.
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NOTE: Sensor-view-configuration data is intended for the automatic configuration of the sensor view interface between an environment simulation and sensor model.
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NOTE: `SensorViewConfiguration` data is intended for the automatic configuration of the `SensorView` interface between an environment simulation and sensor model.
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The data is not intended to be a mechanism for parametrizing a generic sensor model.
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During the initialization phase, there are two sources for sensor-view-configuration data:
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During the initialization phase, there are two sources for `SensorViewConfiguration` data:
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1. Sensor-view configuration data may be provided by the sensor model to the environment simulation.
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. `SensorViewConfiguration` data may be provided by the sensor model to the environment simulation.
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In this case, the data describes the input configuration that is requested by the sensor model.
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If the sensor model does not provide such data, then the environment simulation will fall back to manual configuration of the sensor view.
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2. Sensor-view configuration data may be provided by the environment simulation.
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. `SensorViewConfiguration` data may be provided by the environment simulation.
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In response to the request by the sensor model, or based on manual configuration, the environment simulation configures the input and provides a new message that describes the actual configuration.
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The configuration requested by the sensor model may differ from the configuration provided by the environment simulation.
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The packaging layer defines the specifics of this auto-negotiation mechanism.
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After the initialization phase, the environment simulation provides the actual sensor view configuration as part of each sensor view message.
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After the initialization phase, the environment simulation provides the actual sensor-view configuration as part of each `SensorView` message.

‎doc/architecture/trace_file_formats.adoc‎

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[#top-1a2f4b0c-195c-4f18-89ad-d48a123bd8c1]
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= OSI trace file formats
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There are multiple formats for storing multiple serialized OSI messages in one trace file.

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